Abstract: Federated Kalman filter is always use to integrated navigation system to achieve anti-jamming，high guidance-precision，small amount and real-time filter.Nevertheless，the precision of federated Kalman filter depends on the accurate degree of system model.A new adaptive federated filter used in integrated navigation system of land vehicle is presented to achieve the high guidance-precision and anti-jamming.The main idea is using the fault datum as the switching condition.While fault datum exists，we choose improving gain matrix of the Kalman filter approach；else we choose a fuzzy adaptive Kalman filter approach.Experiment results show that，when this approach uses to SINS/GPS integrated navigation systems，filtering precision and converging speed is over general Kalman filter.