Map-matching is a technique that corrects positioning errors in navigation system by means of software. The paper presents an integrated map-matching algorithm for decreasing the false matching rate and increasing the effectiveness of map-matching. A higher matching speed and lower matching error rate is achieved through a comprehensive judging procedure which corrects different sections by different matching algorithms. The technique combines the vertical projection algorithm which has a high speed performance but high incorrect matching rate using the historical trajectory calculation algorithm which has a low speed performance but low incorrect matching rate. The actual matching results of the GPS trajectory data show that the presented technique has better matching effect in complex networks,especially in crossroads. The technique has higher efficiency and practical value.