Aiming　at　the　intelligent　vehicle　of　dynamic　operation,　the　nonlinear　problem　of　the　vehicle　mobility　and　positioning　system　is　solved　by　using　EKF　to　calculate　real-time　solution　of　navigation　parameters.　The　algorithm　reliability　has　been　tested　on　real　vehicle　in　virtual　environment,　achieving　the　rendering　of　map　and　the　drawing　of　driving　path　during　vehicle　operational　process.