Abstract: To gain higher navigation accuracy of HRG\|based Gimbaled Inertial Navigation System (GINS), a Carouseling GINS is constructed by adopting a rotation mean technique. In navigation of Carouseling GINS, the platform’s rotation would lead to the accerlarometer’s size effect error, thus influencing the final navigation accuracy. On the basis of careful analysis of the generation machanism of accerlarometer’s size effect, considering the character of HRG\|based Carouseling GINS, complete rotating vector expression of transforming matrix is substituted into velocity and position updating equations to gain a complete velocity and position compensation algorithm. The simulation and result analysis prove that the proposed algorithm could competently reduce the velocity and position error caused by the accelerometer size effect, and the theorotical analysis in the paper is validated. 

Key words: Carouseling, GINS, Size effect, Compensation algorithm