针对半球谐振陀螺平台多位置自对准由于可观测性较差，存在失准角（特别是方位失准角）的估计速度较慢、对准精度较差问题，提出一种平台连续旋转的自对准方法。推导了平台的框架角运动方程，建立了半球谐振陀螺平台惯导系统连续旋转自对准模型，并对设计的自对准方法进行了试验验证。结果表明，提出的自对准方法在对准精度和时间上较普通的多位置静态自对准方法有较大提高，具有一定的工程应用价值。

Aiming at the problem that alignment accuracy (especially azimuth misalignment angle) and speed of the Hemispherical Resonator Gyroscope (HRG) platform for multi-location are unsatisfactory due to the poor observability, a platform continuous rotation alignment is put forward.Angular motion equations were derived by using the framework, and HRG INS continuous rotation self-alignment model was established.Experiments were made to verify the designed self-alignment method.The results showed that:the proposed self-alignment method improves the alignment accuracy and speed greatly compared with the conventional static multi-position alignment method, and thus it has the value of engineering applications.