Abstract
In this paper, a new Euler angle model without approximation based on <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">SE(3)</i> is proposed to solve the problem that the low common frame performance of conventional Euler angle error model based on <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">SE(3)</i> for inertial navigation system (INS) when the misalignment angle error is large. Firstly, the Euler angle error is represented by the relationship between Euler angle and the attitude matrix. Then, the left/right error model based on <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">SE(3)</i> without approximation is rederived, extending the conventional Euler angle error model based on <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">SE(3)</i> to the application of large misalignment angle error. Finally, the validity of the proposed model is verified by theoretical analysis and field experiments. The results show that the proposed model is more applicable to INS/GPS and INS/DVL, respectively. Especially in the case of large misalignment angle, the convergence and accuracy of the proposed model are higher than the conventional model.
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