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In order to improve the robustness and precision of initial alignment of strapdown inertial navigation system for land vehicles in complex environment, an inertial coordination alignment method based on single-axis continuously rotating modulation is researched. Error suppression theory of SINS alignment with single-axis continuously rotating modulation is elaborated. Model of double-vector alignment is established through inertial coordination solidification, and inertial coordination multi-vector alignment with rotating modulation is achieved. It is verified by simulation and experimental equipment that single-axis continuously rotating modulation suppress error of inertial devices and achieve better precision. Inertial coordination multi-vector alignment takes full advantage of measured vectors, and improves robustness and precision of alignment than double-vetor alignment.