Semi-entity simulation method of inertial navigation/Beidou combined navigation

The invention provides a semi-entity simulation method of inertial navigation/Beidou combined navigation. The semi-entity simulation method comprises the following steps: 1, arranging an inertial navigation/Beidou combination on a carrier, and electrifying and starting; 2, binding initial parameters to a navigation computer; 3, keeping the carrier static, keeping data output by a gyroscope and an accelerometer for one hour, calculating average values, and subtracting the average values to obtain actual noises of the gyroscope and the accelerometer; 4, keeping the carrier static and carrying out inertial navigation for 5 minutes for static initial alignment; 5, moving the carrier, carrying out inertial navigation calculation, and keeping a carrier position output by the inertial navigation and data output by a Beidou receiver within 50 seconds after movement; 6, calculating a pseudo-range and a pseudo-range rate reference value by satellite and carrier positions, and subtracting the pseudo-range and the pseudo-range rate reference value from a pseudo-range value and a pseudo-range value rate which are output by the Beidou receiver to obtain a Beidou pseudo-range and pseudo-range rate noises; and 7, setting a simulation track to obtain a Beidou pseudo-range standard value and related data, and fusing the data with the noise data obtained in the steps 3 and 6 to obtain simulation data of a device so as to carry out inertial navigation/Beidou combined navigation simulation.