分析了速度更新计算中划船误差的产生原理，详细推导了划船补偿算法并对该算法进行了优化。
The sculling error in the velocity calculation is described and sculling optimal compensation algorithms are derived.
仿真结果表明，在高动态环境下，对划船误差的补偿提高了系统的速度解算精度。
The simulation results show that the sculling compensation term in the velocity integration algorithms can not be neglected for the high accuracy GFSINS in highly dynamic environments.
划船效应误差的确定与补偿是影响高动态、恶劣振动环境下捷联惯性导航系统速度计算的重要问题。
Under the condition of high dynamic angular motion or vibration environment, confirmed and corrected the sculling error is important to calculated the speed of strap-down inertial navigation system.
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