中文摘要：

针对车载系统在运动过程中运行时间长、动态性能变化频繁、车载导航系统不同的非线性特点，提出通过零速修正方法确定其动态特性。针对动态检测结果提出了混合滤波算法，根据车载导航系统不同的动态特性，特别是在GPS故障的情况下，采用本文提出的滤波方法有效地降低了载体在不同动态特性下的误差影响。实验表明，该方法能有效提高车载系统动态定位，改善由非线性误差导致车载系统误差积累造成的影响。

英文摘要：

This paper proposes hybrid unscented particle filter（HUPF） for integrated navigation system （INS） of vehicle which has characteristics of long-time moving and frequent changes in dynamic performance and different non-linear characteristics. The algorithm combined with zero velocity updates method and effectively reduced the error of different vehicle＇ s dynamic characteristics based on the integrated navigation system of vehicle. The result shows the method effectively improved positioning accuracy and the error accumulation of vehicle.