The invention relates to a passive integrated positioning method based on space environment magnetic field characteristics. Technology integration of inertial navigation, terrestrial magnetism and a map is carried out to realize passive integrated positioning, so that the passive integrated positioning method has the advantages that any hardware deployment is not needed, an electromagnetic signal is not emitted outwards and received, maintenance is not needed, floors can be distinguished and the method is not easily shielded and interfered. Especially, the invention provides a processing method for calibrating a magnetic sensor in advance and carrying out identification and elimination on magnetic interference in a positioning process, aiming at a condition that a magnetic field signal is easily interfered by with low-frequency electric and magnetic signals which are continuously changed in the environment, so that the magnetic field measurement precision is improved; meanwhile, a matching algorithm is improved and the stability of terrestrial magnetism positioning is improved, so that the robustness of an indoor positioning system and the adaptability to most of application scenes are ensured.