The navigation accuracy of the pure SINS system can not satisfy the high performance requirement of air-to-air missile when the cruise range of the missile is too long.The GNSS/SINS integrated navigation is an effective method to solve this problem.Because of the successful application of the Beidou satellites navigation system,the research on BD/SINS integrated navigation has become a hot engineering field.In this paper, the integrated navigation algorithm of the BD/SINS is studied.The gain-restriction Kalman filter is adopted in the fusion of the information from the SINS and the BD receiver.In order to mitigate the inverse effect of the clock error of the receiver,a special method is used to eliminate the clock error.Simulation result proved that the integrated navigation method has a high navigation accuracy.