The invention relates to an indoor positioning terminal integrated with a visual odometer and a magnetic sensor. The indoor positioning terminal comprises a geomagnetic acquisition and preprocessing unit, a visual odometer unit, an integrated positioning module and a wireless transmission module. According to the indoor positioning terminal disclosed by the invention, an indoor environment is measured on the basis of the visual odometer and geomagnetic sensing, and integrated positioning is carried out in combination with mileage and geomagnetic information; no base station needs to be arranged, and no equipment maintenance is needed; the indoor positioning terminal is high in positioning precision, stable, reliable and easy to maintain; the problem that the positioning precision of an inertial navigation positioning technology is quickly reduced over time is avoided; the indoor positioning terminal has a wide application prospect in the field of indoor positioning.