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The error modulation principle and rotation scheme of the single-axis rotary strapdown inertial navigation system are analyzed. Aiming at the problems that yaw motion of carrier can decrease rotary modulation effect and the methods isolating yaw motion at present can cut lifetime of rotary mechanism, determine the stop angle of indexing mechanism with calculation to eliminate the effect of bias of inertial measurement unit for the most part, a flexible rotation scheme is proposed which can restrain the influence of yaw motion to rotary modulation effectively without increasing rotary mechanism running frequency. Theoretical analysis and simulation experiment show that the proposed rotation scheme can restrain the reduction effect of yaw motion to rotary modulation effectively, which has reference value for theoretical research and engineering application.