Abstract: An integrated MINS/GPS navigation system is presented as an airborne equipment for UAV.The heading's observability is very weak.In order to eliminate this divergent trend,two methods that Kalman filter with heading coupling and dead reckoning revising the heading of SINS are proposed.The simulation results show that these methods can effectively eliminate the divergent trend of heading,and have high positioning and orienting precision.The system can be used on UAVs and airships.It will have more and more bright future.