Automatic detection and compensation method for rotation angle measurement error of rotation modulation inertial navigation

The invention belongs to the technical field of inertial navigation, aims to solve the problem of low attitude precision of inertial navigation output, and relates to a rotation modulation inertial navigation rotation angle measurement error automatic detection and compensation method, which is characterized by comprising the following steps: after an inertial navigation system is started and aligned to obtain initial attitude information, carrying out rotation angle measurement error compensation precision detection; when the compensation value exceeds the precision range, the inertial navigation attitude information and the rotation angle measurement value are sampled, the rotation angle measurement compensation parameter is recalculated through least square fitting, rotation angle measurement compensation is performed again after a new parameter is obtained, precision verification is performed, and the new parameter is stored for use after verification is passed. And inertial navigation output attitude inf