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As satellite positioning has shortcomings such as susceptibility to multipath interference, we look forward to using a new algorithm to solve these problems. The method of derivative dynamic time regularization is used as the matching method of geomagnetic navigation. Due to the factors of the inertial device itself, a certain cumulative error will occur in the positioning solution of the inertial navigation (INS). Therefore, an outdoor error model needs to be established, and the positioning error is corrected by filtering technology. To solve this problem, the Unscented Kalman Filter is used to fuse the positioning results of the two to obtain a more accurate positioning, with an average accuracy within 1.5 meters.

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