The invention provides a vehicle-mounted integrated navigation method of resisting to failure of a
global positioning system, and relates to a GPS-failure-resisting integrated navigation method suitable for a vehicle-mounted low-cost integrated
navigation system. The vehicle-mounted integrated navigation method of resisting to failure of the GPS comprises the following steps that firstly, relative time
delay of measurement data of different types of sensors is estimated with the dynamic
convolution correlation method, and output data of three types of sensors which are the GPS, a
gyroscope and the speed sensor are corrected according to the relative time
delay; secondly, outliers of
original data of the three types of sensors are removed through an
outlier-removing innovation orthogonality sliding window
average filter, and the discrete degree of the data is reduced; thirdly, error coefficients of the
gyroscope and the speed sensor are estimated online in real time in the effective status of the GPS, and compensation for the error coefficients is conducted; fourthly, when failure of the GPS occurs, the recursive
algorithm is started and the position information and course information are given. According to the vehicle-mounted integrated navigation method of resisting to failure of the GPS, the problem that error drifting of the vehicle-mounted low-cost
gyroscope and the speed sensor is rapid is solved, position and course accuracy is improved obviously, and the vehicle-mounted integrated navigation method of resisting to failure of the GPS can be used for various vehicle-mounted navigation systems comprising GPSs, gyroscopes and speed sensors.