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To solve the problem of rapid initial alignment for vehicle-launched missile, a method of transfer alignment is studied in pitching maneuver. Firstly,according to the velocity plus attitude matrix matching principle, using Position and Azimuth Determining System(PADS) served as Master Inertial Navigation System, the mathematical model of transfer alignment is established. Secondly, the method of analyzing the degree of observability is introduced by means of singular value decomposition;Finally,the accuracy of proposed method is performed. Simulation results show that the estimation performance is consistent with observable degree;the Kalman filter can accomplish the task to the accuracy of minute lever in about 10s.