惯导系统的旋转调制技术实质上是一种误差自补偿技术。为了研究单轴旋转惯导系统的误差补偿机理，从四元数微分方程的角度重新推导了旋转惯导系统的姿态误差模型，能够与常用的方向余弦法推导的模型相互印证。建立了具有一般意义的系统误差模型和静基座误差传播方程，并分析了惯性器件误差量的调制形式，为设计转位方案提供了依据。针对单轴连续旋转方案中陀螺常值漂移、标度因数误差和安装误差对导航误差的影响进行了仿真。理论分析与仿真结果均表明，惯性测量单元绕方位轴的连续旋转可以有效抑制导航误差。

Rotating modulation for Strap-down Inertial Navigation System (SINS) is an auto-correction technology in nature. In order to study the error compensation principle of single-axis rotary SINS, an attitude error model is deduced by the quaternion differential equation, which is consist with the one deduced by direction cosine matrix differential equation. The general system error models and error propagation equation on stationary base are established, and the modulation forms of inertial device errors are analyzed, which provides a reference for rotary scheme design. Simulation is made to the influence of gyro constant drift, scale factor error and setting error based on single-axis continuous rotation on navigation error. Theoretical analysis and simulation results show that continuous rotation of inertial measurement unit can effectively restrain the navigation error.