By inhibiting constant error of inertial components

rotation monitoring technology can improve navigation positioning precision of strapdown inertial navigation system（INS） effectively.However

the existing of scale factor error may decrease rotation modulation effect.By analyzing scale factor modulation effect in single-axis rotation

angular rate error inspired by scale factor in single-axis is derived

and corresponding rules of rotation position and angular rate error have been summarized.Best dual-axis rotation scheme has been proposed

which can inhibit scale factor error at the most.Simulation results shows that

comparing with single-axis rotation scheme

errors of system latitudes and longitudes are reduced by degree of 10-2 level by dual-axis rotation scheme

which can reduce navigation positioning errors inspired by scale factor error more effectively.