The transfer alignment of velocity plus angular rate match uses the differences between the master inertial navigation and slave inertial navigation as the measurements.The velocity and angular rate difference equations are deduced

and the liner filter model for velocity plus angular rate match is constructed.The velocity plus angular rate match method combines the advantages of the calculation parameter match and measurement parameter match.Compared to the conventional velocity match method

this method utilizes more measurement information.So the yaw estimation accuracy is better and the estimation duration is rapider than conventional one.