This paper presents an integrated navigation algorithm based on Kalman filter in underground garage. Traditional vehicular navigation algorithms are mainly employed in passenger vehicles traveling on the ground. Vehicles are generally equipped with Global Positioning System(GPS) and Inertial Navigation System(INS) to provide accurate positioning data for vehicles. However, the GPS receiver cannot acquire the positioning signal from the satellite, due to the ground barrier, after the vehicle enters the underground garage. The GPS/Inertial Navigation System(INS) integrated navigation cannot work normally. Inertial navigation can only calculate the position data in a short time, and the positioning accuracy diverges after a period of time. In this case, this paper introduces the integrated navigation algorithm of Light Detection and Ranging(LIDAR) scanner and inertial device. The LIDAR/INS integrated navigation will take place the indoor Dead Reckoning(DR) algorithm. The accuracy and stability of LIDAR scanner indoor navigation and positioning provide calibrated positioning for inertial navigation in Kalman filter. Finally, continuous indoor and outdoor seamless vehicle navigation driving trajectories are achieved by the navigation system.