Error propagating characteristic analyzing for rotating LG INS

Understanding the mechanism of rotation modulation error auto-compensation and grasping the characteristic of front-to-back error propagating are the utmost important jobs for the design of a rotating inertial navigation system (INS). Basing on these, a reasonable rotation scheme can be designed and verified by simulating and testing at the time. Combining with the working principle and error propagating equation of single-axis rotating INS, the mechanism of rotation modulation error auto-compensation was explained. By theory reasoning and mathematically simulating, inertial sensors' error propagating characteristics of constant errors, rand errors, scale errors and mount-errors were analyzed, and the effects of error modulation by using single-axis rotating INS for inertial sensors were obtained. All these results show that this rotation scheme is effective and feasible for INS. The studying results can offer both theory reference and design basis for the realization of the rotating laser gyroscope (LG) INS.