Low-cost combination type positioning and orienting device and combined positioning method

The invention provides a combined locating and orienting device with lower cost and a combined locating and orienting method thereof. The device mainly includes an MEMS INS consisting of an MEMS IMU and a navigation computer, a GPS receiver, a 3D digital electric compass, an altometer, an aerodromometer, a power module, a box body, a socket connector, etc; wherein, the MEMS INS includes 9 MEMS gyroscopes and 6 double-axis MEMS accelerometers which respectively measure the palstance and the acceleration of a moving carrier; then the palstance and the acceleration are inputted into a navigation calculating program to calculate the information like the pose, the position and the speed of an obtained carrier. Simultaneously, the navigation computer regularly collects the information of the navigation sub-units like the GPS receiver, the 3D digital electric compass, the aerodromometer and the altometer by a 232 series port and obtains the best navigation information like the position, the pose, the speed and the height of the carrier by information fusion processing; the precision of the invention is better than a single sub-system in the device. The combined locating and orienting device with lower cost has the advantages of small size, low power consumption, low cost, complete functions and abundant interfaces, thus being capable of completely meeting the locating and orienting requirements with middle precision for carrying the carrier on the ground or in the air.