REQUEST-based inertial odometer moving base coarse alignment method

The invention relates to a REQUEST-based inertial odometer moving base coarse alignment method. The method is beneficial for solving the problem of double-vector attitude determination by REQUEST, realizes coarse alignment of an inertial navigation/odometer integrated navigation system under a moving base, and realizes coarse alignment of the moving base. By acquiring and processing gyroscope and accelerometer data, establishing a transition coordinate system and converting attitude solution into the problem of double-vector attitude determination, an REQUEST technology is used for solving the problem of dual-vector attitude determination, and then an attitude matrix is obtained according to matrix chain multiplication, so that coarse alignment of the movable base is completed. According to the method, vector observation information is fully utilized, the influence of device errors accumulated in recent observation information is effectively restrained by introducing attenuation factors into an REQUEST algori