Method, device, medium and equipment for determining self-alignment precision of rocket inertial measurement unit

The invention provides a method for determining calibration precision of a rocket inertial measurement unit. The method comprises the following steps: determining a third reference coordinate transformation matrix between a reference inertial measurement unit coordinate system and a to-be-calibrated inertial measurement unit coordinate system; determining a first actual coordinate transformation matrix of the to-be-calibrated inertial measurement unit coordinate system and the north-sky-east coordinate system; determining a second actual coordinate transformation matrix of the reference inertial measurement unit coordinate system and the north-sky-east coordinate system; the actual azimuth angle of the reference inertial measurement unit is inversely calculated based on the second actual coordinate conversion matrix; determining self-alignment precision according to the actual azimuth angle and the first reference azimuth angle; thus, a third reference coordinate conversion matrix is determined firstly, the t