Minitype combined navigation system and self-adaptive filtering method

A micro combined navigate system and a relative self-adaptive filter method belong to inertia navigate system, comprising an abundance distribution inertia measuring unit, a micro GPS receiver, and a navigate computer, wherein the navigate computer comprises a data pick-up, navigate calculation, self-adaptive flat particle filter. And the filter method comprises that first designs a system state equation and a measuring equation, generates state sample particles in prior distribution according to the system state and the self-adaptive theory, then based on UKF filter threshold, judges if the standard decide particles enter into UKF filter, while only refreshes time of the particles not entered into UKF filter, refreshes sample weight, judges if needs resample, processes state fusion on the particles to obtain a state evaluated value. The invention can obtain inertia and navigate property, and process compensation in navigate calculation, while the invention avoids large calculation of flat particle filter, improves the accuracy of navigate system, reduces the error of navigate system, to be used in aviation and aerospace fields or the like.