Aiming at the problem of GNSS signal loss caused by complex airspace environments or highly dynamic maneuvers during flight testing, an algorithm is proposed that corrects INS velocity to GNSS velocity based on the lever arm effect. Unlike standard lever arm velocity compensation models, this paper takes into account angular acceleration and centripetal acceleration during lever arm rotation to adapt to the highly dynamic maneuvers of aircraft. The Euler integration of the corrected GNSS velocity in the ECEF coordinate system is implemented, and cumulative errors are reduced through simultaneous forward and backward integration. The effectiveness of the algorithm is verified using real flight test data. Experimental results simulating 10 seconds of GNSS signal loss show that when the aircraft is in maneuvering states such as climbing or rolling, the cumulative integration error does not diverge, and the algorithm′s calculated results maintain an error level relative to GNSS ranging from centimeters to meters.