Roll angle measurement precision evaluation method in ground rotation state

The invention belongs to the technical field of navigation, and particularly relates to a roll angle measurement precision evaluation method in a ground rotation state, and the method comprises the following three stages: stage 1, based on the rotation measurement characteristics of a ground accelerometer, constructing a state equation to achieve time updating; stage 2: based on the selected state and measurement, constructing a non-linear measurement equation to realize measurement update; and stage 3, realizing roll angle estimation based on a filtering estimation result. According to the method, in the process of testing and evaluating the precision of the integrated navigation roll angle, an additional zero position and an equivalent lever arm are incorporated into a state equation, the influence of the additional zero position and the equivalent lever arm is eliminated, and meanwhile, due to the adoption of an optimal estimation means, the influence of additional measurement noise is weakened. The method