In the context of contemporary warfare, achieving precise navigation for cruise missiles through challenging environments is paramount. We propose a novel vision inertial odometry (VIO) method enhanced by Beidou Navigation Satellite System (BDS) for precise cruise missile state estimation. We address current navigation challenges and underscore the importance of visual-inertial navigation systems (VINS) in complex environments. Our method improves pose state initialization in multi-sensor fusion, and implements asynchronous fusion update and BDS measurement calibration. Experimental validation using quadcopter unmanned aerial vehicle (UAV) and cruise missiles demonstrates the efficacy of our approach, showing superior performance in both simulated and real-world scenarios. In conclusion, this research offers a promising solution for cruise missile navigation.