Abstract: In the process of geomagnetic navigation,UKF(unscented Kalman filter) are influenced by initial biases,uncertainness of system noises and environmental magnetic abnormal disturbances.Considering these factors,the adaptive estimation principle is incorporated into UKF to improve the convergence of UKF and stability of the geomagnetic navigation system.The calculation result shows that in data processing of geomagnetic navigation system,EKF(extended Kalman filter) algorithm is better than UKF,and adaptive UKF is superior to adaptive EKF algorithm.Adaptive UKF can inhibit initial biases,uncertainness of systemic noises and environment magnetic abnormal disturbances influence on geomagnetic navigation and furthermore improve positioning accuracy and reliability of geomagnetic navigation system.