Let $(S_n)_n$ be the random process on $\mathbb R$ driven by the product of i.i.d. non-negative random matrices and $\tau$ its exit time from $]0, +\infty[$. By using the adapted strategy initiated by D. Denisov and V. Wachtel, we obtain an asymptotic estimate and bounds of the probability that the process $(S_k)_k$ remains non negative up to time $n$ and simultaneously belongs to some compact set $[b, b+\ell ]\subset \mathbb R^{*+}$ at time $n$.