Taking certain type selfpropelled gun as the target of study, two directions of attitude and angular velocity are derived using the acceleration information when the carrier in a uniform straight line motion, and the derivation process are introduced in detail. In order to improve the zero velocity update precision and realtime performance, the attitude is taken as a benchmark, and is added to the filter in the observation. The original velocity matching is changed to velocity and attitude matching. The high precision dynamic zero velocity update method is put forward. The simulation results show that using acceleration information can effectively get the current carrier attitude, verifying the correctness of the method. Before sports car test, the accelerometer output information is processed using the finite impulse response (FIR) digital filter. The experiment results show that the accuracy and realtime performance of zero velocity update is greatly increased by using the proposed method, limiting the east position error within 10 m, and north position error within 20 m. High precision navigation and error calibration are realized under the condition of continuous driving.