The integrated Kalman filter method is applied to vehicle navigation system in order to revise the error of INS , study a method of refraining filter divergence in order to improve filter accuracy.

• 在GPS/INS车辆组合导航中，应用集中式卡尔曼滤波算法校正INS的误差，研究了抑制滤波发散的方法，提高了滤波精度；