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Rcgardlcss the grade of the IMU uiilii.cd the rclaiivc angular motions of ihc vehicle within a shori time span can bc measured wiih a high accuracy level by the gyroscopcs.In the GNSS/lnertial integrated attiiudc detcnnination sysicms.this mcasuroncni can bc trcatcd as a consiraini.namcly the Inertial-aided constraint.Wiih this constraint imposed.the ambiguity scarch spacc shrinks significanily when a rotation occurs.thus it is helpful to spccding up the initializaiion proccdurc of the atiiiude paramcicrs under the dynamic circumsianccs.Oncc the new SVs-sclccting algorithm proposcd in this papcr was utilizccL the shrinking cfficicncy of the constraint can bc further improvcd relative io the traditional minimal-GDOP algorithm.Experimental rcsulis have demonsiratcd the validiiy and efficacy of ihc new SVs-sclcaing algorithm.