Error correction method and device for strapdown inertial navigation

The invention relates to the technical field of navigation positioning and discloses an error correction method and device for strapdown inertial navigation. The error correction method includes the following steps of: performing attitude resolution on an accelerometer and a magnetometer to obtain first attitude data of a terminal; calculating a first attitude change rate according to last first attitude data and current first attitude data; taking the first attitude data as initial attitude of a gyroscope, and performing gyroscope attitude resolution by utilizing quaternion to obtain second attitude data; calculating a second attitude change rate according to last second attitude data and current second attitude data; and tracking a cyclic variation of a deviation ratio, and when the deviation ratio reaches an extreme value, calculating third attitude data according to the first attitude data, the second attitude data and attitude credibility, and correcting an integral error of the gyroscope according to th