Aiming at the problem of big constant drift error

scale factor error and symmetry error of micro-electromechanical system（ MEMS） inertial sensors

in order to improve the navigation accuracy of the system

an error modulation method

rotation modulation（ RM） is introduced. In order to compensate the three axis sensors errors

a dual-axis sixteen-position continuous rotation scheme is proposed

and the modulation effect of the error is compared with the single-axis forward-reverse continuous rotation scheme

these two schemes are analyzed and verified by simulation. The simulation results show that the dual-axis sixteen-position continuous rotation scheme has better modulation effect than the single-axis rotation scheme. The velocity accuracy is improved by 2 times and the position precision is improved by nearly 3 times in 720 s.