###### Abstract
The use of 5G communication systems for indoor and outdoor positioning is a current research hotspot. Indoor and outdoor positioning algorithms based on the characteristics of 5G millimeter-wave signals have also been extensively studied, and the existing algorithms have reached sub-meter positioning accuracy [21; 22; 23]. Hybrid positioning schemes based on the fusion of 5G cellular, GNSS/INS are to be studied and developed towards a universal solution for robust positioning of aerial or ground vehicles in urban, rural, and indoor scenarios [24]. Studies have also shown that positioning 5G base stations on both sides of the expressway can improve the robustness and accuracy of the car navigation system on the road [25]. The research of indoor and outdoor joint positioning using 5G shows that when there is no GNSS signal, it is a good choice to use 5G signal instead. Although there have studies use federated filtering, INS is not used as a reference system [26; 27]. These studies show that integrated navigation using new sensors needs to be more comprehensive. In the above context, this article finds that algorithm research and technical application of combined GNSS/INS/LEO/5G navigation and positioning are ascendant in the existing research. Therefore, based on the new sensors included in the new infrastructure, this article proposes implementing a GNSS/INS/LEO/5G integrated navigation simulation experiment by using a federated filtering algorithm to verify the feasibility and positioning accuracy of different integrated navigation positioning schemes. The integrated navigation simulation verification scheme in this article uses GNSS and LEO satellite constellations simulations to derive the satellite position and speed in the simulation time, which is used as the data source for the integrated navigation satellite positioning. The IMU error model is used to build IMU output specific force and angular velocity models, which are used for integrated navigation, as the INS's data sources. The 5G ranging signal is simulated by adding random noise based on the given theoretical coordinates of the base station and receiver, based on the 5G ranging signal error model, to provide the ranging value of the 5G signal. Through the implementation of a federated filtering algorithm, the combined navigation and positioning results of the above multi-source signals are output and compared with the true value to verify the navigation and positioning accuracy. The structure of this article is as follows. The first section is the introduction; the second section introduces the algorithm model used in this article, including algorithm structure frame, simulation scene construction, and simulation method of each signal source; in the third section, the experimental results are compared and explained; finally, in the fourth section, the author puts forward the summary and conclusions of this article. The potential innovations of this article are as follows: simulation verifies the advantages of new integrated navigation using LEO constellation and 5G over traditional integrated navigation; the applicability of the new integrated navigation proposed in this article is presented for the positioning effect in different scenarios. A proposal of information factor allocation using a federated filtering algorithm is proposed when different precision sensors are used.