Abstract: Attitude computed using raw gyro measurements through the INS algorithm suffer from unrestricted error escalation during INS-stand alone phase when utilizing low cost IMU sensors without aiding from other sensors. Hence, an intelligent vehicle dynamic identification system is produced in this study to identify the vehicle status and fuse data from multiple low cost gyroscopes and accelerometers to estimate precise tilt angles and reduce the accumulated error through utilizing the corresponding motion characteristics of the accelerometers and gyroscopes. The results obtained using a real field test data shows clearly a significant reduction in tilt error during stand alone INS.