中文摘要：

一个有效、灵活的旋转和赔偿计划被设计改进旋转惯性的航行系统(RINS ) 的精确性。单人赛轴的 RINS 的精确性被错误在旋转的轴上限制。有为纤维的旋转的轴的错误赔偿的一个新奇惯性的测量单位(IMU ) 计划眼的旋转罗盘(雾) RINS 被介绍。在计划，有类似的错误特征的二对惯性的传感器在旋转斧子上相对地被装补偿传感器错误。没有为旋转周期的任何变化，这个计划改进系统精确和可靠性，并且也为系统提供冗余性。36 h 航行模拟的结果证明系统的精确性尤其是与正常 strapdown INS 相比被改进，除出发精确性以外与单人赛轴的 RINS 相比到 3 次被增加，并且位置精确性被 1 个数量级改进。

英文摘要：

An effective and flexible rotation and compensation scheme is designed to improve the accuracy of rotating inertial navigation system （RINS）. The accuracy of single-axial R1NS is limited by the errors on the rotating axis. A novel inertial measurement unit （IMU） scheme with error compensation for the rotating axis of fiber optic gyros （FOG） RINS is presented. In the scheme, two couples of inertial sensors with similar error characteristics are mounted oppositely on the rotating axes to compensate the sensors error. Without any change for the rotation cycle, this scheme improves the system＇s precision and reliability, and also offers the redundancy for the system. The results of 36 h navigation simulation prove that the accuracy of the system is improved notably compared with normal strapdown INS, besides the heading accuracy is increased by 3 times compared with single-axial RINS, and the position accuracy is improved by 1 order of magnitude.