In view of demand for navigation and positioning of mobile robot

a low cost and portable multi-sensor integrated navigation system is designed. The design uses the processor named STM32F407

whose kernel is ARM Cortex-M4

as the core of the hardware circuit. The system uses micro inertial measurement unit（ MIMU）

global positioning system（ GPS） and electronic compass as navigation data source

and hardware design is carried out.Experimental verification is performed with mobile navigation platform

and experimental data is analyzed

the results show that the integrated navigation system can effectively improve the navigation precision

and manages to stable the navigation and positioning error of latitude and longitude at about 1. 0 m

also heading angle error is stable within 0. 8°

it has certain reference value for mobile robot navigation.