While environmental compensation mainly compensates the environmental conservation.

So this paper indicates we should build a new system of environmental compensation, while restoring natural environment, we should admit the priority right of dwellers to environment, and.

In order to ensure the stabilization of the society in the project area,properly deal with the relationship between the project owners and the surrounding residents and promote the construction and future operations smoothly,this paper studies the environmental compensation mechanism and analyses the way and standard of it.

And a significative method of voltage loop compensation is proposed through the derivation of loop gain of voltage loop.

Because introducing the the delay of compensating segment of the local feedback signal, the dynamic characteristics are improved and the disturbance of the system can be deleted fast, then, the regulating quality of the system is increased.

Firstly, Schuler oscillation correction based on gravity information open loop compensation is proposed, and then stochastic errors such as gyro shift are corrected by closed loop compensation so that INS could maintain long term, autonomous and precise navigation.