The invention provides an inertia gravity combined navigation semi-physical simulator which is a device suitable for the theoretical method and engineering application research of an inertia/gravity combined navigation system. A path generator generates ideal data inputted to an inertia measuring unit, a gravimeter simulator, a Doppler log simulator, a deep sounding apparatus simulator and a combined navigation computer; wherein the gravimeter simulator comprises a gravity sensor, a chart of digital gravity anomaly, and a computer; the Doppler log simulator comprises a Doppler log and a computer; the deep sounding apparatus simulator comprises a deep sounding apparatus and a computer; the combined navigation computer is realized by an industrial computer, the synchronous control of the path generator, the inertia measuring unit, the gravimeter simulator, the Doppler log simulator and the deep sounding simulator is realized by a serial port, the transmission and receiving of information are performed on the inertia measuring unit, the gravimeter simulator, the Doppler log simulator and the deep sounding apparatus simulator, the combined navigation calculation and estimation analysis are performed, and the result is displayed through a terminal.