Inertial navigation device

The invention discloses an inertial navigation device, which comprises a filter, a data solution module and an inertial navigation module, wherein the filter carries out noise filtering on received satellite signals to obtain ephemeris data; according to the ephemeris data from the filter, the data solution module calculates position coordinates and sends the position coordinates to a terminal; and the inertial navigation module sends inertial navigation data to the data solution module such that when the data solution module receives ephemeris data of less than four satellites, the data solution module calculates in a combined mode and outputs position coordinates according to the inertial navigation data. According to the inertial navigation device, continuous, seamless and accurate navigation and positioning functions in urban canyons, underground garages, elevateds, tunnels and other conditions.