The invention relates to a method for improving inertial navigation /
satellite integrated positioning precision, which comprises the following steps of: 1, measuring a relative distance between
satellite navigation and inertial navigation, and transmitting the relative distance to equipment for storage; 2, measuring the relative distance between the inertial navigation and the
measurement point, and transmitting to equipment for storage; 3, accessing a
synchronization signal PPS to ensure that the type of the
synchronization signal is effective; 4, latching the
longitude,
latitude and height of the current inertial navigation when the inertial navigation
software receives the PPS
signal; 5, after inertial navigation
software receives the PPS
signal, a first frame of
satellite navigation positioning message is received, the current
satellite navigation position is stored,
satellite navigation rod arm compensation is carried out to the inertial navigation installation position, and then the inertial navigation positions in the step 4 are used for jointly calculating the quantity measurement of the
Kalman filtering algorithm; 6, updating the
Kalman filtering algorithm after the measurement is updated; 7, after the step 6 is carried out for a certain time, when inertial navigation outputs the position outwards, measuring point rod arm compensation is carried out, a compensation process is completed, and the step 4 to the step 7 are executed repeatedly in the follow-up process. The method can improve the precision of the
measurement point position output by the inertial navigation / satellite
combination algorithm.