Due to the structure limitation, the tracked communication vehicle has the problems of the skids and slips. Influenced by the installation position of the odometer and different transmission ratio, the output of odometer is different from the actual travelling distance of the tracked communication vehicle under different motion states. The accuracy of the SINS integrated navigation may be reduced by directly using the odometer output of the tracked communication vehicle as auxiliary navigation information. Based on the analysis of the equivalent steering radius of the tracked communication vehicle in different motion states and the relationship between the output of the odometer and the actual speed of the tracked communication vehicle, a method for identifying and judging the motion state of tracked communication vehicle is proposed in this paper. According to the judged motion state, an odometer correction compensation method based on kinematic constraints of tracked communication vehicle is proposed. The method can recognize the different motion states of tracked communication vehicle, correct the output of odometer in real time, and compensate the lateral velocity caused by the skids and slips. The actual vehicle test verifies the effectiveness of the integrated navigation method.