This　paper　proposes　hybrid　unscented　particle　filter　(HUPF)　for　integrated　navigation　system　(INS)　of　vehicle　which　has　characteristics　of　long-time　moving　and　frequent　changes　in　dynamic　performance　and　different　non-linear　characteristics.　The　algorithm　combined　with　zero　velocity　updates　method　and　effectively　reduced　the　error　of　different　vehicle＇s　dynamic　characteristics　based　on　the　integrated　navigation　system　of　vehicle.　The　result　shows　the　method　effectively　improved　positioning　accuracy　and　the　error　accumulation　of　vehicle.