Calibration and compensation techniques are essential to improve the accuracy of the strap-down inertial navigation system. Especially for the new uniaxial rotation module inertial navigation system (URMINS), replacing faulty uniaxial rotation modules introduces installation errors between modules and reduces navigation accuracy. Therefore, it is necessary to calibrate these systems effectively and compensate for the installation error between modules. This paper proposes a new self-calibration and compensation method for installation errors without additional information and equipment. Using the attitude, velocity, and position differences between the two sets of navigation information output from URMINS as measurements, a Kalman filter is constructed and the installation error is estimated. After URMINS is compensated for the installation error, the average of the demodulated redundant information is taken to calculate the carrier’s navigation information. The simulation results show that the proposed method can effectively assess the installation error between modules with an estimation accuracy better than 5”. Experimental results for static navigation show that the accuracy of heading angle and positioning can be improved by 73.12% and 81.19% after the URMINS has compensated for the estimated installation errors. Simulation and experimental results further validate the effectiveness of the proposed self-calibration and compensation method.

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Cables or slip-rings are often used to power loads on a rotating unit in the rotation modulated inertial navigation system (RMINS). However, these power supply methods have the disadvantages of cable winding and slip ring friction and wear, which reduces the reliability and life of the RMINS. Therefore, this paper applies magnetic coupling resonant wireless power transfer (MCRWPT) technology to the RMINS to avoid the shortcomings of the above power supply methods. Furthermore, according to the structure and working characteristics of the RMINS, a simple design method of the MCRWPT system without any feedback control is proposed. Based on the ANSYS simulation, the magnetic shielding structure is designed to reduce magnetic leakage, and the efficiency of the MCRWPT system is optimized by designing the excitation frequency. Experiments verify the effectiveness of the proposed method. The experimental results show that the designed MCRWPT system can achieve an efficiency of 74.6% with an output power of 10 W and has been successfully applied to the uniaxial rotation module inertial navigation system. Finally, the design method of the MCRWPT system is simple, and it has guiding significance for the design of the wireless power transfer system in the RMINS.