为抑制惯性导航系统误差随时间累积的影响，研究了一种改进的64次序双轴旋转调制方案，并分析了其误差补偿特性。探讨了惯性测量单元常值误差、标度因子误差和安装误差的调制机制。通过仿真实验和物理实验，对比16次序、32次序和64次序旋转方案的误差抑制效果。48 h仿真数据显示，与16次序方案相比，64次序方案的纬度误差和经度误差分别降低60.9%和66.2%，东向速度误差和北向速度误差分别降低64.7%和67.3%，横滚角误差、俯仰角误差和航向角误差分别降低68.3%、62.0%和61.4%。24 h实验结果进一步验证了该方案在经纬度误差、速度误差和姿态误差方面的优化效果，其中航向角误差较16次序方案降低24.0%，验证了该方案的有效性。

To mitigate the influence of the error accumulation of the inertial navigation system （INS） over time， an improved 64-position dual-axis rotation modulation scheme was studied， and its error compensation characteristics were analyzed. Based on the principle of rotation modulation， the modulation mechanism of the constant error， scale factor error and installation error of the inertial measurement unit （IMU） was discussed. Through simulation experiments and physical experiments， the error suppression effects of the 16-position， 32-position and 64-position rotation schemes were compared. The 48-hour simulation showed that compared with the 16-position scheme， the latitude error and longitude error of the 64-position scheme were reduced by 60.9% and 66.2%， respectively， the east velocity error and north velocity error were reduced by 64.7% and 67.3%， respectively， and the roll angle error， pitch angle error and yaw angle error were reduced by 68.3%， 62.0% and 61.4%， respectively. The 24-hour experiment further verified the optimization effect of the scheme in terms of latitude and longitude errors， velocity errors and attitude errors， among which the yaw angle error was reduced by 24.0% compared with the 16-position scheme， verifying the effectiveness of the scheme.