An improved ESKF algorithm is proposed to solve the inaccuracy problem of navigation results caused by ignoring the high order in the error equation in the traditional filtering algorithm,which combines the filtering algorithm based on the error state modeling with the EKF.Aiming at the robustness and adaptability of integrated navigation,a filtering algorithm combining Kalman filtering algorithm and adaptive filtering algorithm is proposed and verified by simulation.The simulation results show that when the integrated navigation system is disturbed greatly,the accuracy of longitude and latitude of the integrated navigation system is improved by 49.8% and 34.21% respectively compared with that of the traditional filtering algorithm,and the accuracy and robustness of the integrated navigation system are improved effectively.