Rotating method of modulation type inertial navigation system with double-axis rotating continuously

The invention belongs to the field of inertial navigation, aiming to solve the optimization problem of a modulation method during double-axis rotating. The invention provides a rotating method of a modulation type inertial navigation system with double-axis rotating continuously. In the rotating method, the rotating speed of azimuth axis omegaz and pitch axis omegax is needed to preset to meet a condition of omegaz=2omegax. The periodical rotating method of the inertial navigation system based on the condition improves the precision of the inertial navigation system and ensures the stability of the carrier by modulating the error of inertial apparatuses in three sensitive axis (azimuth axis, pitch axis and horizontal axis) directions of the inertial navigation system.