Quantum PSO（QPSO）particle filter（QPSO-PF） is proposed by combing the QPSO algorithm with PF

by which the mileage coefficient error and azimuth error is estimated in DR/GPS integrated navigation system

and then the mileage coefficient and azimuth is corrected.In QPSO-PF

the quantum bit is used to encode the particle and the quantum rotating gate and mutation are introduced to guarantee the diversity of particle set

and the particles are redistributed by the optimization search of QPSO

and makes the particle set effectively approximate the true posterior probability distribution

which effectively alleviates the degenerative phenomenon and improves the precision of PF.The experimental results of vehicle experiment of DR/GPS integrated navigation system show the increase trend of error of DR navigation system is effectively restrained

and the positioning precision of integrated navigation system is effectively improved by using QPSO-PF.