Combined　the　Unscented　Kalman　Filtering　(UKF)and　the　Unscented　Particle　Filtering　(UPK),　a　Hybrid　Unscented　Particle　Filtering(HUPF)　was　presented　to　improve　the　instability　of　the　Micro　Integrated　Navigation　System(MINS)　for　a　vehicle　when　it　was　in　a　long-time　moving,　changes　of　dynamic　performance　and　the　case　of　GPS　signal　loss.　Firstly,　the　Zero　velocity　Updates　(ZUPT)　was　used　to　determine　the　dynamic　characteristics　of　different　vehicle　systems.　Then,　according　to　the　test　results,　the　UKF　or　UPK　algorithms　were　chosen　to　treat　the　performance　of　the　vehicle　under　different　dynamic　characteristics.　Finally,　based　on　the　experimental　results,　different　ways　were　compared.　It　is　indicate　that　the　HUPF　algorithm　combined　with　ZUPT　has　reduced　effectively　the　general　error　of　the　MINS　of　the　vehicle　under　different　dynamic　characteristics,　especially　in　the　case　of　GPS　signal　loss.　Obtained　results　show　that　the　positioning　accuracy　and　the　error　accumulation　of　the　vehicle　have　improved　by　55%　and　the　processing　speed　has　increased　by　nearly　twice　as　compared　with　that　of　general　ways.