In view of the great differences of different Kalman filters for SINS based integrated navigation in performance, a comparison of Kalman filters for SINS based integrated navigation was carried out.Under different filtering frameworks, the key similarities and differences of two quaternion based classical integrated navigation algorithms were studied.Through car-mounted experiment, the Euler based indirect integrated navigation filter was compared with the two quaternion based nonlinear integrated navigation filters on accuracy and calculation amount.The results showed that the Euler based integrated navigation filter has poor filtering accuracy but small calculation amount, while the quaternion based integrated navigation filters have better filtering accuracy but larger calculation amount.The results can provide a useful reference for the selection of integrated navigation filtering.