To settle rapid initial alignment and calibration for on-board inertial navigator on stationary base

a two-position alignment approach is proposed.Initial alignment model with calculated velocity item is developed based on coarse alignment has been implemented

which taking horizontal velocity as measurement variables.An adaptive Kalman filtering is adopted to real time estimate the error’s of state variables

including misalignment angles and constant errors of inertial device.Tests have been made on the horizantal turntable.The test result indicates that during 400s alignment time

the tilt errors are declined to no more than 0.04°

and azimuth error is declined to less than 0.7°.The constant errors of inertial device on horizontal axes are estimated

which benefit to promote navigation precision.