The switching between a damped and an undamped Inertial Navigation System (INS) is an important technical method to ensure its long-term accuracy. The stability of switching is of great importance. This paper studies the switching stability problem between a damped and an undamped INS. A model of an inertial navigation switching system is established by introducing switched control. The average dwell time method is used to analyse stability and a sufficient condition of exponential stability is given. The condition is also extended to the switched system containing constant disturbance and the sufficient condition of exponential stability. The effect of introducing switched control for the smooth operation of the system is verified and the accuracy of a long-term INS is improved effectively.