1. A method, comprising: obtaining a plurality of range-rate measurements of a mobile platform from a satellite positioning system (SPS), wherein the plurality of range-rate measurements are with respect to a global reference frame of the SPS; obtaining a plurality of visual-inertial odometry (VIO) velocity measurements of the mobile platform from a VIO system, wherein the plurality of VIO velocity measurements are with respect to a local reference frame of the VIO system; and determining at least one orientation parameter to align the local reference frame with the global reference frame based on the plurality of range-rate measurements and the plurality of VIO velocity measurements.