Delay error correction method and device, electronic equipment and storage medium

The invention discloses a delay error correction method and device, electronic equipment and a storage medium. The method specifically comprises the following steps: acquiring a historical attitude value of a carrier at a historical moment and a delay duration of an inertial navigation system; according to the historical attitude value and the delay duration, establishing an attitude model of the carrier; determining a calculated attitude value of the carrier at the current moment according to the attitude model; and correcting the delay error of the output attitude value of the inertial navigation system according to the calculated attitude value. According to the technical scheme provided by the embodiment of the invention, the model for calculating the attitude value at the current moment is established according to the relationship among the attitude value at the historical moment, the delay duration and the attitude value at the current moment, so that the attitude value without delay error influence is