Abstract: In order to improve the precision and reliability of SINS/satellite integrated navigation in dynamic disturbance environment,a filtering algorithm based on dynamic disturbance is presented.The algorithm uses geometry dilution of precision(GDOP)to adaptively adjust the measurement noise and uses the innovation of Kalman filter to control the state covariance matrix.Meanwhile,the information distribution coefficient can be adaptively adjusted according to the time-varying covariance matrix of each subsystem.Simulation is carried out on the SINS/GPS/Galileo/BDS integrated navigation system,and comparison and analysis are made with conventional federated filter,Sage adaptive federated filter and the proposed adaptive federated filter.The simulation results show that the presented method can effectively restrain the kinematic disturbance and improve the precision and reliability of the integrated navigation system.