 The proposed mixed norm-based data fusion algorithm is designed to improve the accuracy of GNSS slash INS integrated navigation and positioning systems by reducing the influence of outliers and uncertain noises. This algorithm is tested using real-world data from a land vehicle and compared with conventional filtering algorithms. The results demonstrate that the proposed algorithm performs better than the conventional algorithms in terms of precision and robustness against outliers and uncertain noises. This article was authored by Chen Jiang, Dong Baozhao, Che Xiaosheng, and others.