Global hybrid navigation method and device, computer device and readable storage medium

The invention relates to a global hybrid navigation method and device, a computer device and a readable storage medium. The method comprises the following steps: acquiring a mode mark, position, speedand attitude information of a carrier in an earth coordinate system, and a direction cosine matrix from a carrier coordinate system to a measurement coordinate system; and determining navigation information of the carrier during operation according to the mode mark, the position, speed and attitude information of the carrier in the earth coordinate system and the direction cosine matrix from thecarrier coordinate system to the measurement coordinate system. According to the method, the integration process of the pose, the speed and the attitude information of the carrier in the earth coordinate system is carried out in the earth coordinate system, an integration result with consistent precision can be continuously and stably provided, and the accuracy of the obtained navigation information is improved. The refere