Aiming at the problem of transfer alignment on moving base for the terrestrial moving-platform weapon strap-down inertial navigation system

the theory of transfer alignment is studied

the mathematical model of ground weapon missile-borne sub-INS（SINS）is established and the errors of inertial device are considered.According to the principle of velocity matching transfer alignment

the measurement equation of the velocity error between missile-borne SINS and vehicular main-INS（MINS）is deduced.Based on these

a transfer alignment Kalman filter is designed

and two different schemes of velocity maneuver are used in the simulation.The results of simulation show that two horizontal misalignment angles for missile-borne SINS can be estimated in 5 s by an uniform motion

the observability of the azimuth misalignment angle can be improved obviously with the help of a north acceleration maneuver;the estimation error of the attitude misalignment angle can be reduced to 1′in 15 s.