Vehicle-mounted integrated navigation method of resisting to failure of global positioning system

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 comp