Time-space difference GPS/SINS supercompact integrated navigation method

The invention belongs to the technical field of integrated navigation, and relates to a time-space difference GPS/SINS supercompact integrated navigation method. The time-space difference GPS/SINS supercompact integrated navigation method comprises the steps that output information of a strapdown inertial navigation system is used for forecasting a time-space difference observed value of a carrier angular speed error and a time-space difference observed value of an initial phase error; output information of a GPS receiver is used for calculating a time-space difference observed value of the carrier angular speed error and a time-space difference observed value of the initial phase error; subtraction is carried out on the time-space difference observed values of the carrier angular speed error and the time-space difference observed values of the initial phase error obtained in the first step and the second step to serve as measurement of a system model; a kalman filter is used for estimating the state of the system, and an inertial element error and navigation information resolved by the strapdown inertial navigation system are corrected through the estimation result; Doppler shift is calculated through the corrected navigation information, is input to the receiver and is corrected. The time-space difference GPS/SINS supercompact integrated navigation method improves the navigation accuracy of the system, and reduces the calculation amount and complexity of the system.