中文摘要：

为了提高惯导系统长时间运行时的精度，采用旋转自动补偿技术来抑制系统误差的发散．分析旋转自动补偿的基本原理，得出旋转式捷联惯导系统下的误差传播方程，对光学陀螺的刻度因子误差、安装误差、常值漂移和随机漂移误差在旋转方式下的误差传播情况进行了分析研究．比较分析了单轴旋转和双轴旋转方式下对系统误差的不同影响．仿真结果表明：旋转自动补偿技术，能明显改善纯惯导系统误差随时间发散的特点，有效抑制误差的增长．研究结果可以作为旋转式光学陀螺捷联惯性导航系统进一步优化和工程设计的理论参考．

英文摘要：

In order to improve the precision of inertial navigation system during long time operation, the autocompensation technology was employed to suppress the divergence of errors. The auto-compensation principle of the rotated strapdown inertial navigation system （SINS） was introduced, and the effect of the optical gyro＇ s scale-factor error, fixing error, bias and random drift error on the rotated compensation system was investigated. Different errors of single-and dual-axis rotation have been analyzed. The effect of the rotating auto-compensation system was analyzed by simulation. The study results offer an academic basis for optimization and design of the optical gyro rotating strapdown inertial navigation system.