For the positioning and navigation in complex environment,a type of All-Source Positioning and Navigation (ASPN) system needs to be constructed to achieve multi-sensor plug-and-play and data fusion at different frequencies.This paper studies a data fusion method based on factor graphs.This method uses the factor graph method to represent the recursion and update of the state,and uses the Gauss-Newton iteration method to complete the data fusion task by solving the optimization equation in the integrated navigation.Then,taking the SINS/GNSS integrated navigation system as an example,the principle of the factor graph is analyzed and a corresponding information fusion framework is designed.Finally,the feasibility of the method is verified by simulation.The experimental data show that the three-axis position RMSE is 1.53 m,1.55 m and 1.53 m respectively,which proves the feasibility of the method.Based on this,the sensor can be extended to build an ASPN system.