Beidou integrated navigation timing method

The invention discloses a Beidou integrated navigation timing method. The method comprises the following steps: S1, combining a satellite navigation system and a strapdown inertial guidance system; s2, performing estimation updating based on a Kalman filtering theory; s3, selecting a design mode of the integrated navigation system; s4, a correction method of indirect filtering; s5, the state mode of the system; s6, obtaining a ranging code in the Beidou satellite signal; s7, a signal capturing method; and S8, SINS auxiliary receiver signal acquisition. According to the Beidou integrated navigation timing method provided by the invention, effective capture of signals can be ensured through searching of pseudo-random codes and strong autocorrelation, and the number of search units is analyzed through comparison when assistance exists or not; according to the method, the Doppler frequency shift search range of the receiver can be greatly reduced through assistance of SINS information on Beidou receiver signal ca