Abstract: This paper presents a novel method for integrated navigation based on Fuzzy Adaptive Kalman Filtering. This method is mainly used for autonomous mobile vehicles. The noise covariance of Kalman Filtering is modified "online" by the Fuzzy Logic Adaptive Controller in order to modulate Kalman Filtering to be optimal and to improve the positioning accuracy of the integrated navigation system. By simulation in the GPS/INS, it is proved that the Fuzzy Adaptive Kalman Filtering has better accuracy than the regular Kalman Filtering. The study of this method is of great significance to guidance and navigation of vehicles.