The invention relates to a 
speedometer-assisted vehicle-mounted dynamic alignment method. The method is technically characterized by comprising steps as follows: in an 
inertial navigation system, inertial navigation calculation is performed, and attitude heading, speed and position information is output and updated; mileage 
decomposition is performed by use of an attitude angle of vehicle displacement increment output and inertial navigation calculation of a 
speedometer, and 
speedometer navigation position calculation is completed; an error model of the 
inertial navigation system and an errormodel of navigation position calculation are taken as equations of propagation of an 
error state, an attitude angle error of the 
inertial navigation system is estimated and calibrated by use of a 
Kalman filter. 
Deep integration is performed through the 
Kalman filter by use of displacement increment information provided by the vehicle-mounted speedometer and 
gyroscope and accelerator data providedby an inertial measurement 
assembly, in the running process of a vehicle, a combined navigation technology of accurate alignment of attitude heading and correction function of position errors is completed, the starting process of the vehicle-mounted 
navigation system can be simplified, the reaction time is shortened and the maneuvering characteristics of a carrying vehicle are improved.