摘要：

The invention provides a navigation method and terminal. The navigation method includes the steps of receiving a Beidou satellite navigation signal, receiving internal radio frequency and base band chip data, and obtaining Beidou satellite navigation preprocessed data after position, speed and time resolving processing; obtaining external observation information and original inertia measurement data; calculating error data according to the external observation information and the original inertia measurement data, wherein the external observation information includes the temperature and the starting time; resolving the original inertia measurement data with a strapdown inertial navigation algorithm to obtain the resolving result; carrying out combined navigation filtering according to the Beidou satellite navigation preprocessed data, the error data and the resolving result, and outputting the filtering result. By means of the navigation method and terminal, satellite navigation and inertia navigation are organically combined, and the navigation accuracy and the navigation reliability which are superior to the navigation accuracy and the navigation reliability of any single navigation system are achieved.

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