Abstract
The conventional linearized error models of strapdown inertial navigation system( SDINS ) are found not to be effective to represent the nonlinear characteristics of navigation error propagation in case of the system which causes the large navigation errors. To represent the large attitude error of the SDINS, the rotation vector error is introduced and the relationship between the rotation vector error and the quaternion error is derived. Using this relationship the nonlinear error models of the SDINS are presented with the rotation vector error and the quaternion error, respectively. And it is shown that the nonlinear SDINS error models presented here are equivalent to each other. In addition it is shown that in the case of the system with the small enough attitude error, the nonlinear error models can be reduced to the conventional linearized error models.
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