In a limited environment with GPS signals, the accuracy of visual positioning of a moving platform based on sequential images is high and can correct the accumulation of errors in the path calculation method. However, positioning can easily fail in environments with poor texture or insufficient lighting. To improve the accuracy and reliability of positioning a moving platform in all scene conditions, a combined navigation method using GPS, camera, inertial measurement unit (IMU), and odometry based on joint filtering is proposed. In this method, the IMU is used to form sub-filters with the help of an odometer and camera within the joint filtering, effectively avoiding positioning failures of the system caused by stereoscopic vision failures and enhancing the reliability of positioning. Experiments show that the new method can compensate for problems of loss of signals from the vehicle's satellite navigation system and errors of the inertial device, accumulating and diverging over time, as well as improving the accuracy and reliability of the system in complex conditions.