Through analysis of the working principle of the time error in speed estimation and position estimation in integrated navigation system

the time error in the navigation system cannot be ignored（especially in the flexible condition）.To solve current time registration method only in the specific condition and cannot use in integrated navigation system

the time registration method based on segmentation overlap is proposed.The measurement information of the different sensors can be unified into the same time by segment processing.The sampling rate and the precision can be improved by overlapping the segmentation areas.Simulations are performed and the results show that the novel method can overcome the irregular time error and can obtain system precision and stability.