Aiming at the challenges brought by the motion characteristics of high dynamic aircraft such as large maneuver and hypersonic velocity to the accuracy of integrated navigation, an integrated navigation algorithm based on the launch point North-Up-East frame is proposed. Firstly, the meaning of the frame used is expounded, and the inertial navigation error equation is derived by taking the launch point North-Up-East frame as the navigation system, and the integrated navigation filter model is constructed by combining the types of Beidou navigation information. Then, the inertial navigation information is utilized to compensate for the time delay errors in the velocity and position of the high Beidou receiver. Furthermore, the observability of navigation states is judged online using Kalman filter parameters, and a smoothing scheme for the navigation results is presented. Finally, simulation experiments are conducted based on the trajectory data of high dynamic aircraft. The experimental results show that the proposed method is effective in dealing with the problems of Beidou delay and navigation jump, and can maintain high precision navigation results in high dynamic environment.