Abstract： Aimed at the different output rates of each sub-aided navigation system in the integrated navigation system, a fusion filtering method guided by measurement information was proposed using information quality and information equivalent to register all the currently available information. Based on the additional principle, system state estimation was updated depending on the state prediction and currently available measurements, which is theoretically optimal. The simulation results show that the proposed method can handle the unequal output rates of multiple measurements, and work well when any subsystem goes wrong at any time. Compared with the federated filtering method and concentrated filtering method, the proposed method has a better realtime performance.