A continuous self-calibration and self-alignment method based on attitude angle was proposed for the calibration and initial alignment of floated inertial platform (FLIP)system.According to the working principles of floated platform,the inertial sensor error models were built and the attitude dynamic model for the FLIP was established;in order to make the platform to be rotated in the gravity plane,the torquing policy was designed;using the theory of piece wise constant system (PWCS)and output sensitivity,the observability of system was analyzed. Finally,the proposed method was verified by simulations.The simulation results show that the proposed method can synchronously calibrate and align 42 error coefficients of the FLIP with high accuracy and significantly improve the measurement precision of the system.%针对浮球式惯性平台系统的标定与初始对准问题，提出了一种基于姿态角的连续翻滚自标定自对准方法。根据浮球平台工作原理，建立了惯性器件误差模型，推导了浮球平台的姿态动力学方程；设计了平台在重力场连续翻滚的施矩方案；利用分段线性定常系统和输出灵敏度理论分析了系统的可观性。仿真结果表明，该方法可以同时实现平台系统42项误差系数的高精度标定与初始对准，有效地提高了系统的测量精度。
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