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中文摘要：
针对惯性器件偏差是影响惯导系统导航精度的主要因素,同时考虑到多种误差源对调制型捷联系统的影响,提出了一种利用惯性测量单元（IMU）四位置转停的误差调制方法。分析了调制型捷联系统的误差特性并建立了四位置转位方案模型。利用实验室自行研制的光纤捷联惯导系统分别进行IMU静止和四位置转位运动下的长时间导航实验,实验结果表明了该方法的有效性。
英文摘要：
According to the inertial device bias is the leader factor which decrease the navigation accuracy,and considering the rotary strapdown inertial navigation system is effected by the multi-errors.The error modulation method which utilize the IMU four-position indexing is proposed in this paper.The error characters of rotary SINS are analyzed and the model of four-position indexing scheme is established.The navigation experiment with a long time on the condition of IMU static and four-position indexing are operated by the FOG SINS which is made in our lab.The experiment results show the proposed method is valid.
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