Kalman Filter is an extremely effective and versatile procedure for combining noisy sensor outputs to estimate the state of a system with uncertain dynamics . In this paper, the algorithm of UFK(Unscented Kalman Filter ) is developed. By simulated experiment, EKF(Extended Kalman Filter ),UKF without and with GPS latency compensation are compared. In result,the UKF algorithm is unbiased and minimum variance. A UKF-based integrated navigation for GPS/INS provides precise position and orientation to the photogrammetric adjustment. In turn, the photogrammetric adjustment provides position updates to the UKF.