Combining wireless ranging and inertial navigation system(INS) can effectively improve the positioning precision for ground vehicle navigation system.In the case of long GPS signal blockages inherent, the positioning accuracy of independent INS is largely deteriorated.To overcome this limitation,this study theoretically demonstrates the feasibility of the scheme which corrects the INS positioning data by using the precise distance obtained from the wireless ranging.The integrated positioning principle has been presented and the relationship between the positioning error and INS error has also been analyzed to improve the positioning accuracy. The simulation results show that the propose scheme can improve the positioning accuracy effectively.