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The Wheels Slip rate is important parameter of vehicle movement state, when it is larger will seriously affect the traction efficiency, fuel consumption and driving safety. Real-time accurate detection of instantaneous wheel slip rate is the key technology of vehicle optimization control. When vehicle running at low speed in the field it's surface is covered by variety of soil and vegetation or other complex landform environment, the traditional method is difficult to accurately measure this dynamic parameter. The paper use a new method for measuring: Collect satellite navigation, micro inertial navigation and wheel speed etc. multi-source information; Based on the spatial structure relations between two measurement point, established Multi-source Data Structured Fusion algorithm(MDSF); Measure the instantaneous slip rate of each wheel in real-time. Simulation and experimental results show that: (1) The wheels move speed relative error is less than 2.43%, the wheel rotation speed relative error is less than 0.54%, the wheel slip rate error is less than 3.00%. (2) The measured data accurately presents the dynamic characteristics of the vehicle in motion and reflects the dynamic states of each wheel in real time.