The signal processing for a GPS receiver is composed of the signal acquisition, the tracking, and the navigation. The goal of the acquisition is to synchronize the code phase and a carrier frequency with the income signal for a particular satellite. For the algorithm of GPS signal acquisition, the previous GPS acquisition scheme adopted not only the coherent integration acquisition technique, but also the non-coherent integration technique. Since the long coherent integration time increases the number of frequency search cells, while the non-coherent integration technique causes the squaring loss. Because of the effect of estimated Doppler frequency error and estimated code phase error on the non-coherent integration technique, this paper proposed an efficient MIMU/GPS embedded integrated navigation system to aid GPS signal non-coherent integration acquisition scheme. Expressions of detection probability and false alarm probability about GPS signal acquisition were gained in this paper. And the method of MIMU to aid GPS signal non-coherent acquisition was presented. Finally, the paper analyzed the performance of MIMU/GPS aiding GPS signal non-coherent integration acquisition.. The simulated result shows the precision of the estimated doppler frequency is better than 4 Hz. The result also shows based on MIMU/GPS integrated navigation aiding, the performance of GPS signal non-coherent integration acquisition can be improved greatly.