Considering the performance of Global Positioning System (GPS)/Dead Reckoning (DR) integrated system degrading dramatically when GPS signal is outage or blocked, a Compressed Extend Kalman Filter (CEKF) based Simultaneous Localization and Mapping (SLAM) aided GPS/ DR integrated navigation method was addressed. The error of DR system was restrained with SLAM correction when the GPS solutions were unavailable. Accordingly, the GPS location corrected the error and improves the uncertainty of SLAM mapping when GPS positioning was accessible. A filter of CEKF based SLAM/GPS integrated was designed to realize the real time implement of SLAM/GPS in a large scale environment. Compared with the SLAM locating using the real experiment dataset, the SLAM aided GPS/DR integrated method enhanced the system performance of positioning as well as the accuracy of SLAM mapping raised approximate 10m.