摘要：The traditional method for processing multi-beam real-time attitude compensation data did not consider the influence of attitude compensation error, which left attitude residual in data. So a new method for processing multi-beam data of real-time attitude compensation was proposed. By studying the nature of attitude compensation error, the calculation method of systematic attitude compensation error was put forward. The concept of correction threshold was introduced and the specific determination method was given. Finally, combining with the principle of real-time attitude compensation, a systematic attitude compensation error correction method, which makes use of a tracking algorithm considering attitude to make secondary attitude correction, was proposed, and the specific processing flow was given. By comparing the data processing accuracy of the tradition method and the new method, the results showed that the new method can effectively reduce the influence of systematic attitude compensation error, and significantly improve the data processing accuracy.
