Method for adapting a navigation system, wherein the navigation system comprises an inertial navigation system (101, 201) and a global satellite navigation system and an odometric navigation system (103, 104, 203, 204), the inertial navigation system (101, 201) and the global satellite navigation system and the odometric navigation system each capturing measured values, the measured values describing navigation data, the measured values each being afflicted by error values, the error values describing deviations in the measured values from the described navigation data, wherein at least the error values of the measured values of the inertial navigation system (101, 201) are detected by means of the measured values of the global satellite navigation system and of the odometric navigation system (103, 104, 203, 204), the detection taking place in consideration of a capture uncertainty of the global satellite navigation system and of the odometric navigation system (103, 104, 203, 204), wherein the consideration is an adaptation of parameters of a stochastic noise model and wherein the stochastic noise model takes the parameters as a basis for predefining a weighting of measured values of the global satellite navigation system and of the odometric navigation system (103, 104, 203, 204) compared to measured values of the inertial navigation system (101, 201), characterized in that the adaptation of the parameters is chosen according to the capture uncertainty based on a characteristic curve or a family of characteristic curves, the characteristic curve or the family of characteristic curves describing a dependency, determined by means of i) a theoretical modelling, ii) a measurement series, or iii) a series of experiments, of the capture uncertainty on influences acting on the navigation system. wherein the navigation system comprises an inertial navigation system (101, 201) and a global satellite navigation system and an odometric navigation system (103, 104, 203, 204), the inertial navigation system (101, 201) and the global satellite navigation system and the odometric navigation system each capturing measured values, the measured values describing navigation data, the measured values each being afflicted by error values, the error values describing deviations in the measured values from the described navigation data, wherein at least the error values of the measured values of the inertial navigation system (101, 201) are detected by means of the measured values of the global satellite navigation system and of the odometric navigation system (103, 104, 203, 204), the detection taking place in consideration of a capture uncertainty of the global satellite navigation system and of the odometric navigation system (103, 104, 203, 204), wherein the consideration is an adaptation of parameters of a stochastic noise model and wherein the stochastic noise model takes the parameters as a basis for predefining a weighting of measured values of the global satellite navigation system and of the odometric navigation system (103, 104, 203, 204) compared to measured values of the inertial navigation system (101, 201), characterized in that the adaptation of the parameters is chosen according to the capture uncertainty based on a characteristic curve or a family of characteristic curves, the characteristic curve or the family of characteristic curves describing a dependency, determined by means of i) a theoretical modelling, ii) a measurement series, or iii) a series of experiments, of the capture uncertainty on influences acting on the navigation system.