A visual navigation / inertial navigation combined method of the whole

The present invention relates to a visual navigation / inertial navigation whole composition, the method comprising the steps of: 1) visual navigation solution: collinear equation based on the column stand observation equation, using the least squares principle position adjustment vector is obtained between the parameters calculated in the local level to make the navigation coordinate system, the position of each time point to give the carrier, velocity and attitude parameters, also calculated: 2) inertial navigation calculation; covariance matrix - and pose parameters, and calculates the variance between the parameters variance - covariance matrix; 3) correcting vision system INS: Kalman filter as a means to estimate the error in the navigation device and the error parameters of the inertial navigation system, and compensation and feedback correction, whereby all parameters INS the optimum estimation; 4) INS corrected visual system: the sequential adjustment processing, all the correction parameters of the vision system. Compared with the prior art, the present invention has a theoretical tight, stable and efficient advantages.