Abstract: In the GPS/SINS integrated navigation system,the precision of inertial elements and GPS output is the important factor which affects the precision of integrated navigation system.Thus,based on the idea of multi-scale analysis,this paper uses wavelet to de-noise in parallel the inertial elements in order to abate the effect of inertial element on SINS and integrated navigation system;then the parallel multi-scale process is introduced to GPS output,and the Kalman filtering algorithm based on measurement multi-scale preprocessing is given combining the traditional Kalman filter;at last,the above method is introduced to the GPS/SINS integrated navigation system,the measured data is used to verify the above method,and many experimental curves are given based on different methods.It is shown that this method can effectively decrease the effect of error of inertial elements and GPS output on the overall system and improve the precision and reliability of navigation.