The invention provides a double-antenna GNSS (Global Navigation Satellite System)/INS (Inertial Navigation System) deeply integrated navigation method and device. The device comprises a power supply module, an MEMS (Micro Electro Mechanical System) inertial measurement unit, a radio frequency module, an FPGA (Field Programmable Gate Array) module, a DSP (Digital Signal Processor) module and at least two antennas. According to the device, with the assistance of an INS, the probability of cycle slip of the GNSS can be reduced effectively, the integer ambiguity searching space of the GNSS is reduced, attitude measurement information is guaranteed to be continuously outputted, and the tracking loop robustness of the GNSS is enhanced; and with the assistance of a double-antenna GNSS, quick initial alignment of the INS can be realized, the attitude observability of the INS is improved, and the attitude divergence of the INS is inhibited.