Aiming at the problem that the initial precision alignment of the carrier is susceptible to the colored noise and the alignment accuracy is high, a kind of strong tracking filtering method which is based on higher order sphere radial integral is proposed in this paper. The algorithm is based on the precision alignment error model of the moving inertial frame under the aid of the odometer. The autocorrelation function of the state variable takes an orthogonal transformation, which guarantees the noise signal is the Gaussian white noise, and the approximate numerical calculation of the posterior probability density function of the parameters in the filtering process is carried out by using the 5order sphereradial criterion. The simulation results show that the proposed algorithm can effectively guarantee higher filtering accuracy under the condition that the azimuth angle is large misalignment angle and the filter guarantees good robustness when the noise is unknown.