Liquid floating electric spring angular velocity sensor system for GNSS integrated navigation

The invention discloses a liquid floating electric spring angular velocity sensor system for GNSS (Global Navigation Satellite System) integrated navigation. The liquid floating electric spring angular velocity sensor system comprises a gyro motor, a floater, an angle sensor, a torque sensor, components and components forming an instrument. According to the integrated positioning and navigation system, deviation correction can be carried out on the inertial system regularly through satellite positioning system information, and meanwhile, when satellite signals cannot be received, the inertial positioning and navigation system can guarantee the accuracy of navigation information within a certain period of time; wherein the high-precision inertial sensor, namely a linear acceleration sensor and an angular velocity sensor, directly determines the precision and the stability of the combined navigation system; by means of the rotation angle, calculation of the external torque is completed, measurement of the angul