Apparatus and method for integrated navigation using multi filter fusion

An apparatus and a method for integrated navigation using multi filter fusion are provided to be used as a filter in a navigation system for a vehicle, airplane or ship to offer navigation information such as position, speed, or posture. An apparatus for integrated navigation using multi filter fusion includes a calculation unit(105) and a filter unit(106). The filtering unit has first and second filters(205,206), a mode probability update unit(207), and a fusing unit(208). The first and second filters output filter residual and its covariance to update mode probability. The mode probability update unit calculates a likelihood ratio by using the filter residual and the covariance input from the first and second filters to update the mode probability, outputs the updated mode probability, and calculates fusion probability by using the updated mode probability and a Markov transition matrix. The calculation unit has first and second INS(Inertial Navigation System) calculating units(203,204) and a navigation information fusing unit(209). The first and second INS calculating units output INS navigation information based on information inputted from an inertia measuring unit(103). The navigation information fusing unit fuses the navigation information inputted from the first and second INS calculating units by using the mode probability inputted from the mode probability calculating unit at output timing of the navigation information.