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Tightly coupled model was adopted to design strapdown inertial navigation system (SINS)/ Bei Dou system (BDS) integrated navigation algorithm. Errors of SINS and BDS were analyzed and modeled firstly. Errors of SINS,pseudo range error and pseudo range rate error of BDS were chosen as states of the integrated navigation system. Position outputs of SINS and satellite ephemeris outputs of BDS receiver were taken to construct the equivalent pseudo range. Then the difference between the equivalent pseudo range and the pseudo measured by BDS receiver was chosen as the measurement,thus the measurement equation is built. Kalman filter was adopted design SINS/BDS integrated navigation filtering algorithm. Simulation results showed that,the velocity accuracy of this integrated navigation method reached ±0.05 m/s,the position accuracy reached ±3.2 m,the horizontal attitude accuracy reached ±0.4′,and the heading accuracy reached ±1.6′. 