To solve the problems in the positioning and orientation technology of the missile launching vehicle in the background of independent emission, a scheme of integrated navigation of SINS/odometer (OD) based on Radio-Frequency Identification (RFID) is presented.A variety of positioning approaches based on RFID for the launching vehicle are designed and the related problems in actual use are analyzed.Then the scheme is applied to the mature SINS/OD mode.The model of SINS/OD/RFID is built, and the approaches to the auxiliary positioning in progressing are explored, which provide a new auxiliary method for the positioning and orientation development of the launching vehicle.The experimental results of this scheme show that, the positioning accuracy can reach the level of meter, which can effectively extend the navigation time meeting the precision requirements, and improve the application performance.