Considering the problems of the accuracy decline and the divergence of integrated filtering during outages of satellite signal in GNSS/INS integrated navigation, we proposed a new integrated navigation algorithm. With only two visible satellites, the algorithm can obtain stable and reliable positioning result by utilizing the position information and discontinuous pseudo ranges of the two satellites, and the relative movement information at different moments. The positioning result is independent of the existing inertial navigation errors. The correctness and effectiveness of this algorithm are verified through simulations.