By analyzing the error model of Inertial Measurement Unit (IMU) and the navigation error propagating function, the mechanism of error rotating compensation method was illustrated.

通过分析惯性测量组件的误差模型和旋转式捷联系统误差传播方程，解释了旋转误差补偿的机理。

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The decision to bring the shuttle down came after one of the orbiter's three key navigation tools -- an inertial measurement unit -- stopped working.

CNN: NASA to shuttle: Come home