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The positioning error for strapdown inertial navigation system of mobile equipment will be increased when it works in the environment with strong vibration. Taking agricultural machinery, mining equipment and other mobile equipments as the research objects, the position and orientation of mobile equipment were measured with strapdown inertial navigation system (SINS) and the SINS error compensation model was built based on the vibration form of mobile equipment. Firstly, the magnitude-frequency characteristics and vibration properties were analyzed based on the acceleration and angular velocity which were measured by SINS. The angular vibration and linear vibration of mobile equipment were equivalently processed and the coning/sculling error compensation models for SINS with three samples and four samples algorithms were derived according to the SINS solution theory. Secondly, the experimental platform of SINS was built with agricultural machinery which was used for planning and fertilizing the fields. The SINS was fixedly installed on the agricultural machinery. The SINS data was sent to the positioning computer through two wireless transmission modules. The power was supplied for the SINS and one wireless transmission module through an external mobile power module. Finally, experimental results indicated that positioning accuracy of SINS can be increased with three samples and four samples compensation algorithms, and its accuracy was superior to that with non-compensation model. The coning error and sculling error of SINS with four samples algorithm were increased by 29.8% and 28.3% compared with those of three samples algorithm, respectively.