A design of РСБН/SINS integrated navigation is presented. The error model of РСБН is established. The states equation of РСБН/SINS integrated navigation is establish. The relations between inertial navigation position error and azimuth error and distance error are explicated based on the analysis of spherical surface triangle relation principle, theРСБН/SINS integrated navigation system filter measure equation is presented . The method of indirect filter output emendation is adopted in the design of kalman filter. The simulation results show that the filter is capable of well realizing the integration of the two systems, which can increase the navigation accuracy to a great extent, and simultaneously it also can restrain the accumulation of errors.