The research on rotation self-compensation scheme of strapdown inertial system

The error of inertial measurement unit is the main error of strapdown inertial system. Aiming at the problem that constant error may cause error accumulation of navigation parameters, the paper analyzes the propagation rule of the strapdown inertial system error, and proposes rotation self-compensation technology to modulate the error of inertial measurement unit. Considering rotation around azimuth axis, the paper proposes three representative rotation methods. By analyzing modulation effect on inertial measurement unit error and comparing confine effect on navigation parameters error of the three methods, indicate that the reciprocation rotation self-compensation is the better method. The computer simulation and engineering experiment results show that reciprocating rotation method can confine error effectively and improve the precision of system.