Beidou satellite navigation system(BDS)signal is blocked during dynamic positioning which can lead to poor geometry structure of visible satellites and serious multipath effect.In this contribution,the advantages of inertial navigation system(INS),autonomy and short-term accuracy,are used to speed up the BDS ambiguity resolution(AR).However,the accuracy of general INS cannot meet the fixed BDS original carrier ambiguity requirement.BDS can broadcast three frequency observations,so the virtual observations of long wavelength and short wavelength are formed by linear combination,which make the INS precision meet the fixed ambiguity requirement and achieve high precision positioning,respectively.The short wavelength observations ambiguity due to the relatively large noise is difficult to reliably fixed.To solve this problem,Empirical mode decomposition(EMD)can be used to decompose the error of the short wavelength observations into two parts: systematic error and random error.Systematic error is used to correct the short wavelength ambiguity float solution and reduce the ambiguity search space,to achieve a reliable fixed purpose,finally solving the baseline solution.The experimental results show that the algorithm is more fast and reliable than the traditional algorithms,and more suitable for dynamic positioning in the complex environment.