捷联惯性导航系统的旋转调制技术是一种自校正方法，它能在不使用外部信息的条件下，自动补偿陀螺漂移和加速度计零偏引起的系统导航误差。该技术在国外潜艇和舰船上已得到成功应用，旋转捷联惯性导航系统的误差传播方程是研究旋转捷联惯导系统初始对准、系统级标定等的基础。基于此，推导了以地理坐标系为导航坐标系的单轴旋转捷联惯性导航系统的导航方程和误差传播方程(位置误差方程、速度误差方程、姿态误差方程)，给出了误差传播的仿真结果。仿真表明，若采用单轴旋转调制技术，陀螺仪常值漂移和加速度计零偏引起的导航误差都可以得到有效补偿，而初始位置误差、速度误差及姿态误差引起的导航误差得不到补偿。将旋转调制技术应用于捷联惯导系统，能极大地提高**系统的长期工作精度。

Rotating modulation for Strapdown Inertial Navigation System (SINS) is an auto-correction technology, by which the position and attitude error caused by bias of gyros and accelerators can be compensated automatically without using navigation information from outside. This technology has been used successfully in foreign submarines and marines. The alignment and systematic calibration of SINS are based on error propagation model. Thus the detailed navigation equations and error propagation models are deduced out, including position/velocity/attitude error propagation model, and the simulation result of error propagation is presented. The simulation result shows that: if single-axle rotating modulation is used, the error caused by bias of gyros/accelerators can be compensated effectively, while navigation error caused by the initial position/velocity/attitude error can not be compensated.