Abstract: In this paper, a newly developed adaptive fuzzy Kalman filter algorithm is analyzed, and proposed to replace the conventional Kalman filtering approach for the inertial navigation system (INS)/ Global Positioning System (GPS) integrated system. the system noise covariance matrix(Q). and the measurement noise covariance matrix(R) is modified “online” by the fuzzy logic controller and to improve the positioning accuracy of the integrated navigation system. Simulation results show that the proposed algorithm can improve the performance(accuracy and reliability) of the integrated GPS/INS system filtering process .