A method to improve estimation and stabilization of heading in an inertial navigation system is provided. The method includes operating an inertial measurement unit oriented in a first orientation, forward-rotating the operational inertial measurement unit by a selected-rotation angle about a Z-body axis of the inertial navigation system, wherein the inertial measurement unit is oriented in a second orientation, operating the inertial measurement unit oriented in the second orientation, reverse-rotating the operational inertial measurement unit by the selected-rotation angle about the Z-body axis, wherein the inertial measurement unit is oriented in the first orientation, continuously receiving information indicative of an orientation of the inertial measurement unit at a rotational compensator, and continuously-rotationally compensating navigation module output at the rotational compensator, wherein output of the rotational compensator is independent of the rotating.