Continuous navigation method and navigation device integrating low orbit enhancement, GNSS (Global Navigation Satellite System) and IMU (Inertial Measuring Unit)

The invention relates to a continuous navigation method and device integrating low orbit enhancement, GNSS (Global Navigation Satellite System) and IMU (Inertial Measurement Unit). The method comprises the following steps: S1, carrying out capture tracking and telegraph text resolving on a global satellite navigation signal and a low-orbit satellite enhancement signal by using a signal receiving module; s2, performing passive inertial navigation positioning by using an inertial measurement unit module; s3, judging whether the satellite navigation signal is normally captured or not, executing the step S4 when the satellite navigation signal is normally captured, and otherwise, executing the steps S5-S6; s4, fusing an inertial navigation positioning result with a satellite navigation signal by using an integrated positioning module to realize integrated navigation positioning; s5, processing the low-orbit enhanced signal by using a single-satellite positioning module to realize single-satellite positioning of t