A context adaptive GPS/GF-INS integrated navigation system is proposed for rotational vehicles. The proposed context adaptive GPS/GF-INS integrated navigation system consists of a GF-IMU, Aiding sensors, a context detector, a GF-INS, and a GF-INS error estimator. The aiding sensors includes GPS receiver, gyroscope and zero angular velocity information. The context detector determines from outputs of accelerometers and gyroscopes that angular velocity of the vehicle is beyond the measurement limit of the gyroscope, within the measurement limit of the gyroscope or zero angular velocity. The GF-INS provides angular velocity and navigation results from accelerometer outputs. Navigation error of the GF-INS is estimated by the GF-INS error estimator. Measurements and integration Kalman filter are selected among 27 measurements combinations and 27 integration Kalman filters according to the output of the context detector in the GF-INS error estimator. In order to show the effectiveness of the proposed navigation system, computer simulations were carried out. The results are compared with those of a GPS/GF-INS integrated navigation system. The comparison results show that the proposed method gives better results than the GPS/GF-INS integrated navigation system.