The invention provides a GNSS / MINS (global navigation
satellite system / micro-electro-mechanical systems
inertial navigation system) super-deep combination navigation method, aiming to realize super-deep combination of a GNSS and an MINS. The GNSS uses a direct location
estimation method to estimate location errors, speed error and
clock errors according to location and speed auxiliary information provided by an INS (
inertial navigation system) to close loops; a
system takes an MIMU (MINS
inertial measurement unit) and a base band correlator as sensors to realize all the navigation functions in a top combinational
algorithm, in other words, the
algorithm takes the GNSS base band correlator as the sensor of sensitive space-time locating fields and takes the MIMU as the sensor of sensitive
inertance fields to realize integral combination of the GNSS and the MINS; and by the aid of the INS, the GNSS combines multichannel information to perform vector
phase discrimination and vector locating. The invention further provides super-deep
combination system and device applied to the method. The method, the
system and the device have the advantages of high navigation accuracy, good dynamic property, high GNSS tracking sensitivity, high GNSS anti-interference performance, wide GNSS dynamic pulling range and the like; and in theory, the
dynamic range is limited by trends of the MINS, and -160
dBM (decibels above one milliwatt in 600 ohms)
signal tracking can be realized by the GNSS by the aid of the MINS.