Aiming at the problem that alignment accuracy (especially azimuth misalignment angle) and speed of the Hemispherical Resonator Gyroscope (HRG) platform for multi-location are unsatisfactory due to the poor observability, a platform continuous rotation alignment is put forward.Angular motion equations were derived by using the framework, and HRG INS continuous rotation self-alignment model was established.Experiments were made to verify the designed self-alignment method.The results showed that:the proposed self-alignment method improves the alignment accuracy and speed greatly compared with the conventional static multi-position alignment method, and thus it has the value of engineering applications.