A navigation method based on iterative extended Kalman filter fusion inertia and monocular vision. The method specifically is as follows: mounting a monocular camera and an inertia measurement unit on a carrier, utilizing a message filter in an ROS to implement timestamp synchronization between the monocular camera and the inertia measurement unit, calculating a posture change between two consecutive images, calculating change information on position, speed, and rotation solved and obtained by the inertia measurement unit in a time corresponding thereto, making the position, speed, and rotation obtained by the inertia measurement unit as state variables of a system, and making posture change information obtained by a vision sensor as an observation to establish a system equation. Also, by means of a method for one-time iteratively extended Kalman filtration, information acquired by two sensors are fused, thus implementing real-time state estimation and navigation for the carrier. The method allows increased precision to be maintained during a real-time positioning and navigation process over an extended time, and provides the advantage of unchanged interframe calculation complexity.
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