The invention discloses a position estimation method based on integrated navigation of multiple sensors. The method comprises the following steps: 1, parameters output by a DR, a GPS, a DME, a VOR and an ADC are acquired; 2, a state equation is established; 3, a position and velocity measurement equation of the GPS, a slope distance measurement equation of the DME and an azimuth measurement equation of the VOR are calculated; 4, a comprehensive measurement equation is established according to each measurement equation; 5, by combining the state equation and the comprehensive measurement equation, position error amount and velocity error amount are estimated; and 6, according to the estimated position error amount and velocity error amount, output correction is carried out on the DR system, and position estimation is finished. According to the invention, there is no need to use an inertial navigation system. The method provided by the invention has high positioning accuracy, high reliability and good real-time performance, is economic, effective and easy for engineering realization, and can meet high-precision and high-reliability positioning requirements of civil aircrafts.