To improve the accuracy of inertial navigation system (INS) during long time operation, the rotation modulation technology (RMT) was employed to modulate the errors of the inertial sensors into periodically varied signals in navigation frame, and, as a result, to suppress the divergence of INS errors. Firstly, die principle of single-axis RMT was expounded based on the measurement error model of inertial measurement unit (IMU). Then, the effects of vehicle angle motion upon RMT were analyzed theoretically. Error equation of equivalent gyroscopic bias in navigation name was derived. Finally, the simulation and wobble tests were performed. The results show that the average effect of the RMT is negated by vehicle level angle motion; the more the angle amplitude and speed, the more inefficient of RMT, thus, the performance of INS is in low. It can serve as the reference for INS performance analysis and inertial sensors selection of single-rotating INS.%为了提高惯性导航系统长时间导航精度,采用旋转调制技术将惯性器件常值误差在导航系中调制成周期变化的信号,抑制系统误差发散.基于惯性测量单元误差模型,阐述了旋转调制技术的基本原理.理论分析了载体角运动对旋转调制效果的影响,推导了载体水平角运动下导航系中等效陀螺误差方程.进行了仿真和试验.理论分析、仿真和试验结果表明:载体水平角运动降低了旋转调制效果;角幅值和角速度越大,旋转调制效果越差,系统精度越低.分析结果为单轴旋转式惯导系统的导航精度分析和器件选型提供了参考.
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