This article investigates a novel Bluetooth odometer (BOD)-aided smartphone-based vehicular navigation system for satellite-denied environments. First, a wheel-mounted BOD is designed to measure rotational speed and send data to smartphones by Bluetooth transmission. Second, a nonlinear smartphone-based microelectromechanical system (MEMS) inertial measurement unit (IMU)/BOD error model is derived to solve the problem of azimuth divergence. Then, a position delay time model is proposed to compensate for the delay time of Bluetooth transmission. An Android app is developed to receive the BOD data from Bluetooth transmission, and the proposed BOD smartphone-based vehicular navigation algorithm provides positioning information in real time. In field tests, positioning accuracy reaches 0.38%D by using the proposed MEMS-IMU/BOD model. The designed scheme can be used as a low-cost and convenient solution for smartphone-based civilian vehicular autonomous navigation systems without changing the habits of drivers.