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The GPS/SINS/BARO integrated system can provide high dynamic and accuracy navigation for UAV flight. In this paper, a GPS/SINS/BARO integrated system for UAV is presented. The system consists of a GPS receiver, an MEMS-based inertial measurement unit (IMU), a Barometer and a navigation processing unit. The GPS receiver provides three-dimensional velocity and position, the IMU provides three-dimensional linear accelerations and angular rates, the barometer provides the altitude of the vehicle indirectly, and the navigation processing unit performs real-time navigation computation with these measurements. The performance of the proposed GPS/SINS/BARO integrated system has been tested with a quad-rotor named `X500-D'. The results show that the integrated system can provide high accuracy navigation for the guidance and control of the UAV.