The paper presents the form of sins / odometer ( od ) / global position system ( gps ) integrated navigation system based on sins . state and observation equations are established for kalman filter . the simulation result shows that the integrated navigation system can reduce navigation error when using the feedback calibration method 对捷联惯导系统、里程仪( od )和全球定位系统( gps )误差方程进行了分析,建立了以捷联惯导系统为主的用于卡尔曼滤波的系统方程和观测方程,给出了车载组合导航系统的分布式滤波组合方案。