Abstract A vehicle integrated navigation system based on Global Navigation Satellite System (GNSS) aided Inertial Navigation System (INS) enhances its navigation accuracy by utilizing non-holonomic constraints and odometer velocity. However, the navigation accuracy of the system is compromised due to the challenges in the estimation of the inertial measurement unit (IMU) mounting angles relative to the host vehicle. This paper presents a method for estimating the IMU mounting angles of a vehicle that integrated na…