The invention provides an optical
satellite all-time integrated navigation method and device based on sequential filtering, and relates to the technical field of navigation. The method comprises the following steps: determining an inertial navigation position matrix and an inertial navigation attitude matrix according to inertial navigation equipment arranged on a carrier; establishing an error model according to a preset error model determination mode, the inertial navigation
position error, the inertial navigation attitude error, the inertial navigation position matrix and the inertial navigation attitude matrix; selecting a measurement model establishment mode according to the positioning time period attributes, and establishing a high-dimensional measurement model according to the measurement model establishment mode and the corresponding measurement parameters; according to a high-dimensional measurement model, a corresponding preset measurement
noise covariance matrix, an inertial navigation
position error in an inertial navigation position matrix, an inertial navigation attitude error in an inertial navigation attitude matrix, a preset
state variable factor, a preset filtering updating parameter and a preset filtering updating mode, the inertial navigation
position error in the inertial navigation attitude matrix is calculated. Iterative updating of sequential filtering measurement is performed to determine a target
state variable.