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Integration is a current trend in navigation system research.MIMU (Micro Inertial Measurement Unit) is compact,cheap,low-power,and highly reliable.BD (BeiDou System) is a satellite navigation system with our own independent intellectual property right.Integrating MIMU with BD can lessen MIMUs error accumulation and BDs low robustness,thus making MIMU/BD an ideal integrated navigation system.However,MIMU/BD has poor heading error observability.A three-axis magnetometer (TAM) can measure earths magnetic field to obtain carrier heading.This paper focuses on improving heading accuracy of MIMU/BD integrated navigation system with TAM aided.TAMs are used to calculate the heading angle.Calibrating TAMs using a RLS algorithm with a forgetting factor is introduced.An integrated navigation algorithm based on Kalman Filter is used.Vehicle experiments show that this method efficiently improves the heading accuracy.