Configurable inertial/ celestial/Beidou multi-integrated navigation system and navigation method thereof

The invention discloses a configurable inertial/ celestial/Beidou multi-integrated navigation system, which comprises an inertial element, a Beidou receiver and a star sensor, wherein the inertial element, the Beidou receiver and the star sensor transmit data to a navigation computer module, the navigation computer module transmits a navigation calculating result to an upper computer for real-time displaying, and the upper host computer controls the navigation computer module at the same time. The invention further discloses a configurable inertial/ celestial/Beidou multi-integrated navigation method, which calculates a main body by means of strapdown inertial navigation, adopts a distributed filtering scheme, and configures different combination modes and filtering time by means of the upper computer. The entire navigation device can select navigation modes such as pure strapdown inertial navigation, inertial/Beidou, inertial/ celestial and inertial/ celestial/Beidou, thereby facilitating the tailoring of a