研究了磁航向和捷形惯性组合系统初始对准的设计方法。该方法能在初始对准过程中用卡尔曼滤波器估计出陀螺仪的随机常值漂移，从而提高了系统的对准精度。文中给出了系统的状态方程和测量方程，建立了完全闭环控制的卡尔曼滤波器，最后给出了二组不同条件下的模拟结果。 The design method of the initial alignment of the inertial navigation system and the magnetic heading system is studied. This method can estimate the random constant drift of the gyroscope by using Kalman filter during the initial alignment process, so as to improve the alignment accuracy of the system. In this paper, the state equation and the measurement equation of the system are given, and a fully closed-loop controlled Kalman filter is established. Finally, two sets of simulation results under different conditions are given.