1. A positioning and data integrating method comprising the steps of: (a) performing GPS processing and receive GPS measurements, including pseudorange, carrier phase, Doppler shift and time from a global positioning system processor, and passing said GPS measurements to a navigation processing board of a central navigation processor: (b) receiving inertial measurements including body angular rates and specific forces, from an inertial measurement unit, converting said inertial measurements into digital data of body acceleration and rotation by an IMU interface and preprocessing board, and sending said digital data of body acceleration and rotation to said navigation processing board and a control board via a common bus; (c) performing an inertial navigation system (INS) processing using an INS processor; (d) blending an output of said INS processor and said GPS measurements in a Kalman filter; (e) feeding back an output of said Kalman filter to said INS processor to correct an INS navigation solution; (f) injecting said velocity and acceleration data from said INS processor into a signal processor of said global positioning system processor to aid said code and carrier phase tracking of said global positioning system satellite signals; (i) injecting said output of said signal processor of said global positioning system processor said output of said INS processor. said output of said Kalman filter into a carrier phase integer ambiguity resolution module to fix a global positioning system satellite signal carrier phase integer ambiguity number (j) outputting said carrier phase integer number from said carrier phase integer ambiguity resolution module into said Kalman filter to further improve said positioning accuracy; and (k) outputting said navigation data which are platform velocity, position, heading and time data from said INS processor to said control board through said common bus.