Aiming at the requirements of high reliability, anti-interference and low cost of military vehicle navigation application, a high-precision positioning and navigation scheme is designed, which takes the loose combination of Beidou navigation satellite system (BDS) and inertial navigation system (INS) as the core and integrates map matching, vehicle motion information assistance and other methods. The process and method of on-board BDS/INS loose integrated information fusion and the compensation combination algorithm of on-board odometer/strapdown inertial navigation system (SINS) are analyzed. Based on this positioning and navigation scheme, the navigation and positioning module is developed and tested on the road. Simulation and road test results verify the effectiveness of the positioning and navigation system.