文档介绍：第21卷第4期中国惯性技术学报 2013年8月 Journal of Chinese Inertial Technology Aug. 2013 收稿日期:2013-01-18;修回日期:2013-06-26 基金项目:中俄科技合作专项(2010DFR80140)作者简介:高延滨(1963—),男,教授,博士生导师,主要研究方向为高精度导航系统。E-mail:******@hrbeu. 文章编号:1005-6734(2013)04-0446-pensation for inclination angle deviation of single-axis rotation modulation SINS GAO Yan-bin1, GUAN Lian-wu1, WANG Ting-jun2(1. College of Automation; Harbin Engineering University, Harbin 150001, China;2. Institute of China Aerospace Science and Technology Corporation, Xi’an 710000, China) Abstract: There is an inclination angle between inertial measurement unit (IMU) coordinate system and vehicle coordinate system when the rotary strap-down inertial navigation system (SINS) mounted on the single-axis indexing mechanism, for the IMU could introduce putation error and degrade the attitude output accuracy of vehicle. In order to reduce the impact of installation inclination angle on rotary SINS, this paper analyzes the attitude errors caused by installation inclination angle deviation, and then derives the rotation principle with the installation azimuth angle by experiments and data fitting methods. Finally,the inclination angle deviation pensated. The simulation and experiment results show that, after inclination angle pensation, the ho