Alignment and error correction method for double-axis rotational inertial navigation system based on appearance measurement information

The invention provides an alignment and error correction method for a double-axis rotational inertial navigation system based on appearance measurement information. Output parameters of a navigation system can be corrected in real time according to an estimation value of filtering. The method comprises the following steps: firstly, initializing a static base rotational strap-down inertial navigation system; secondly, performing static base navigation resolving through an attitude matrix which is determined by coarse alignment; thirdly, estimating a carrier attitude misalignment angle, the zero offset of an accelerometer, the zero offset of a gyroscope and the scale factor errors of the gyroscope through Kalman filtering; fourthly, correcting a carrier attitude matrix and inertial device parameters according to each state quantity estimation value to realize initial alignment; fifthly, periodically rotating double axes of the rotational inertial navigation system according to a predetermined rotation scheme; sixthly, performing Kalman filtering by using matched position information of a satellite navigation system or a map as appearance measurement information; and seventhly, correcting navigation parameters output by the inertial navigation system in real time according to a filtering estimation result.