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Aiming at the problem of UAV positioning accuracy, the hardware uses modular design idea to design a integrated navigation system, based on micro mechanical sensor and GPS module, with STM32 series microcontroller as the core. Software is put forward acceleration interval adaptive algorithm based on the “fuzzy logic” to ensure the accuracy of the positioning system by correcting the INS positioning error with time fast accumulation and sloving the problem of the ability of continuous positioning and poor accuracy when the GPS transmit signal is blocked. The design lays the orientation foundation for small autonomous takeoff and landing of a fixed wing UAV and multi rotor UAV.