The invention relates to an X-ray helical scanning and navigating method. The X-ray helical scanning and navigating method comprises the following steps: S01, feeding a parcel to a helical scanning system, and scanning the parcel through the X-ray source(s) of the helical scanning system; S02, during helical scanning, acquiring projection data through a detector; S03, conducting data reconstitution on the projection data acquired by the detector to generate a navigation chart; S04, judging weather scanning on the parcel is completed or not; returning to the step S02 if the scanning on the parcel is not completed; displaying the whole navigation chart of the parcel if the scanning on the parcel is completed. The X-ray helical scanning and navigating method has the advantages that during actual operation, addition of hardware equipment is not needed, support of the CT (Computed Tomography) reconstruction technology and the three-dimensional display technology is not needed, the calculation is simple, the cost of computing resources is low, and the navigation chart is generated in real time.