In conventional Inertial Navigation Systems (INS), the error accumulation due to the integration process leads to drift in the actual values of position, velocity, and attitude of an unmanned aerial vehicle. In this study, to mitigate such accumulated errors, a Rotating Inertial Navigation System (RINS) is implemented around the vertical axis using low-cost Inertial Measurement Unit (IMU) sensors. First, the influence of various error sources—including bias, scale factor, and misalignment errors—over time in a static scenario is analyzed for the rotary configuration. Then, a comparative evaluation is performed against a conventional INS. Subsequently, the effect of each error source is investigated in a dynamic test through software simulation of a single-degree-of-freedom RINS, with results compared to those of the conventional INS simulation. Moreover, to validate the simulation results, experimental tests are designed and conducted to assess the accuracy of the rotary inertial navigation system under real-world conditions. Finally, the RINS is implemented on a single-degree-of-freedom rate table in the Control Systems Laboratory environment of the aerospace department of Sharif University. The results demonstrate that the RINS configuration effectively reduces bias, scale factor, and misalignment errors around the body’s x and y axes.