Abstract: Aiming at the problems which exist in the asynchronous fusion algorithms based on pseudo-measurements,such as poor real-time performance,excessive computation burden at the fusion time,and man-made noises correlation etc.,this paper proposes a novel sequential asynchronous fusion algorithm based on the idea of sequential discretization of the sampling points.Firstly,it maps and unifies all measurements in the reference frame and clock with fusion centre.Secondly,selecting every sampling time in the fusion period to discretize the continuous state system sequentially,we get the state equation and the relevant measurement equation between every sampling point in this period.Finally,using the best linear Kalman filter in the sense of linear minimun mean square error,the sequential filtering fusion of asynchronous sampling measurements in this period can be realized.Simulation analysis shows that the proposed algorithm has lower computational load,better real-time performance and higher accuracy compared with the asynchronous fusion algorithms based on pseudomeasurements.