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光纤陀螺是新型角速率传感器，在惯性导航系统中已经得到广泛的应用，光纤陀螺误差信号消除技术的研究具有重要的意义。本文分析了光纤陀螺误差信号的分类，结合其在惯性导航系统中的应用特点，采用了小波阈值滤波与旋转调制的方式对其常值误差、长期漂移、噪声等各项误差进行抑制。通过实验验证，小波滤波与旋转调制技术对光纤陀螺误差信号消除效果明显，具有较高的工程应用价值。“,”As a newly angular rate sensor, Fiber Optic Gyro (FOG) is widely applied in inertial navigation system (INS), and technical of error cancelling is of great importance. According to its application and characteristics in INS, error signals of FOG are classified, and such methods as wavelet threshold filtering and rotating modulation are studied to reduce errors like constant error, long-time drift, noise and so on. The basic principles of these two methods are analysed and practical engineering problems are discussed. Experiment is done, and the results indicate that combination of wavelet filtering and rotation modulation can inhibit the specific error effectively, and the technologies are of wide application.