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To realize fast initial alignment of SINS, according to the results of the observability analysis, state combinations with best observability are found by theoretical analysis and calculation, then the alignment model is simplified and new system function is proposed. As for system noise is unknown when engine is starting, an adaptive Kalman filtering (KF)algorithm based on strong tracking filter theory is proposed, which could restrain filtering divergence and speed up the convergence. The simulation results show that the adaptive algorithm has faster convergence speed and higher precision when the system noises mismatches. The vehicle-based experiment result also shows that fast alignment can be realized with the application of simplified model and adaptive Kalman filter.