A rotating modulation radial spherical permanent-magnet biased magnetic bearing mainly comprises a stator system, a rotor system and a rotating modulation system, wherein the stator system mainly comprises upper spherical stator cores, lower spherical stator cores, field coils, magnetism isolating rings, upper magnetic-conductive rings, lower magnetic-conductive rings, permanent magnets, a stator sleeve and stator locking nuts; the rotor system mainly comprises spherical rotor cores, a rotor sleeve and rotor locking nuts; and the rotating modulation system mainly comprises a magnetic bearing stator mounting plate, a rotating modulation rotor bearing sleeve, rotating modulation bearings, rotating modulation rotor locking nuts, an ultrasonic motor rotor, an ultrasonic motor stator, a rotating modulation stator bearing sleeve and rotating modulation stator locking nuts. The rotating modulation radial spherical permanent-magnet biased magnetic bearing has the rotating modulation function, the stator is driven to rotate by the ultrasonic motor, and angular rate errors of the rotor, caused by gyro drift, are eliminated, so that the control precision of the magnetic bearing is improved.