According to the improvement of ship's inertial navigation system (SINS) accuracy with long running time, a rotating modulation method of SINS based on navigation coordinates was proposed, and a rotation program of the turntable was given. As the vehicle posture changes during the modulation period, the impact on the error compensation can be eliminated according to this method. By deriving the error equations of SINS, the principle of the error compensation was illustrated based on the rotating modulation. By comparing the rotating modulation based on navigation coordinates with the method based on vehicle coordinates, the effectiveness of the rotating modulation based on navigation coordinates was proven, and it was verified by the simulation. As the vehicle posture changes during the modulation period, simulation results show that the ability of the error compensation of the rotating modulation based on navigation coordinates is better than when based on vehicle coordinates.%针对提高长航时捷联惯导系统导航精度的问题,提出了基于导航坐标系的捷联惯导系统旋转调制方法,并给出了旋转机构的转动方案.应用该方法可以消除调制周期内载体姿态变化对误差补偿的影响.通过推导旋转式捷联惯导系统误差传播方程,说明了旋转调制的误差补偿机理,通过比较基于导航坐标系和基于载体坐标系2种旋转调制方法,证明了基于导航坐标系旋转调制的有效性,并通过仿真进行了验证.仿真结果表明,在调制周期内载体姿态变化时,基于导航坐标系旋转调制的误差补偿能力优于基于载体坐标系的旋转调制.
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