In order to improve the accuracy and reliability of the vehicle integrated navigation system, when the Global Navigation Satellite System (GNSS) signal is valid, a dual-antenna GNSS/MIMU/OD integrated navigation model is established and the on-line estimation of the error characteristics of miniature inertial measurement unit (MIMU) and odometer (OD) is realized. During the short-term interruption of the GNSS signal, a MIMU/dual OD integrated navigation model is established based on the dual OD wheel speed ratio correction (WRC) algorithm. The on-vehicle experimental results show that when the GNSS signal is interrupted for 120 s, the maximum positioning error is reduced by 63.9% and the standard deviation of positioning error is reduced by 80.1% compared with the model without WRC. When the GNSS signal is frequently interrupted for 200 s, the maximum position error is 0.55 m. The effectiveness of the established navigation model and algorithm on complex road conditions is verified.