Gesture output compensation method of single-axial rotary inertial navigation system

The invention discloses a gesture output compensation method of a single-axial rotary inertial navigation system. The method comprises the following steps: deducting the rotational angular velocity of the earth and gyroscopic drift from angular velocity output by a top z and integrating to obtain an angle; making a difference between the angle of the integral of the top z and a rotating angle output by a coded disc and fitting the difference value to configure compensation quantity of the course angle; deducting gravity acceleration projection from output of x and y accelerometers and angle of pitch and roll angle obtained by initial alignment so as to configure compensation quantity of the angle of pitch and the roll angle; and compensating the gesture output of the single-axial rotary inertial navigation system according to a gesture output compensation algorithm. The gesture output compensation algorithm is easy to implement, and not only can satisfy the real-time requirement of project application, but also can greatly enhance the gesture output precision of the single-axial rotary inertial navigation system, so that the method is of important meaning to improvement of navigation performance of the single-axial rotary inertial navigation system.