Abstract
Attitude error models play an important role in analyzing the characteristics of navigation error propagation for the design and operation of strapdown inertial navigation systems (SINS). However, the majority of existing attitude error models focus on misalignment, rather than Euler angle errors. Misalignment cannot directly describe attitude error propagation, which is an indirect measurement. To solve the problem, a general Euler angle error model of SINS is proposed. Based on Euler angle error propagation analysis, relative Euler angle errors, and convected Euler angle errors are introduced to compose the general Euler angle error model. Simulation experiments are carried out to verify the proposed model.
Highlights
Inertial navigation systems (INS) can generally be classified into gimbaled inertial navigation systems (GINS) and strapdown inertial navigation systems (SINS) [1,2,3]
Whether in GINS or in SINS, attitude error models play an important role in analyzing the characteristics of navigation error propagation, implementing the Kalman filter for aided navigation systems, and detecting failures in real-time [8,9]
The static model had a better application in research for its simple structure, but it did not apply to a dynamic base
Summary
The National Key Lab of Satellite Navigation System and Equipment Technology, The 54th Research. In large-angle attitude movements, such as missile erection and manipulator control, real-time attitude information can be measured, after which the attitude motion can be optimized
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