The rapid transfer alignment method of velocity plus attitude plus angular rate matching is proposed to adapt to quick reaction capability needs of the carrier plane.The centralized Kalman filter causes problems of high state dimensions,heavy calculation burden and difficulties to meet a high filtering updating rate desired by rapid transfer alignment. According to the idea of distributed parallel filtering,the optimal weighted least squares estimation transfer alignment filter based on Gauss Markov is designed.The mathematic model of this method is established.The structure of federated filter of rapid transfer alignment and fusion algorithm of federated filtering is brought forth and is applied to shipborne SINS.Simulation results show that alignment precision and rapidity of the federated filter is equal to those of the centralized Kalman filter. Main filter can estimate misalignment angle in 4 s,while sub filter can estimate dynamic and static flexure deformation in 1 s. Meanwhile, both of estimation accuracy have up to 2′and amount of calculation is greatly decreased.