Abstract: According to the different sampling rate or different scale of different navigation sensor,this paper puts forward one information fusion algorithm for asynchronous multi-sensor integrated navigation system based on the multi-scale transformation of state equ-ation.This paper first builds up the state equation of integrated navigation system based on the highest sampling rate or the finest scale,then this state equation is decomposed into different scale to establish several state equations based on different scale and the corresponding measurement equation,at last the global and optimal information fusion algorithm based different scale is finished.The simulation results show that this algorithm has not only better real-time,but also better fused precision.