Combined the Unscented Kalman Filtering (UKF)and the Unscented Particle Filtering (UPK), a Hybrid Unscented Particle Filtering(HUPF) was presented to improve the instability of the Micro Integrated Navigation System(MINS) for a vehicle when it was in a long-time moving, changes of dynamic performance and the case of GPS signal loss. Firstly, the Zero velocity Updates (ZUPT) was used to determine the dynamic characteristics of different vehicle systems. Then, according to the test results, the UKF or UPK algorithms were chosen to treat the performance of the vehicle under different dynamic characteristics. Finally, based on the experimental results, different ways were compared. It is indicate that the HUPF algorithm combined with ZUPT has reduced effectively the general error of the MINS of the vehicle under different dynamic characteristics, especially in the case of GPS signal loss. Obtained results show that the positioning accuracy and the error accumulation of the vehicle have improved by 55% and the processing speed has increased by nearly twice as compared with that of general ways.