Error analysis of inertial navigation based on quaternion approach

Abstract

Abstract This research aims to establish the properties of the directional cosines and quaternion parameters to examine the proper scale, inclination, and numerical drift errors in a four-dimensional space. The research uses transformation matrices in the four-dimensional space whose elements are the directional cosines or quaternions. The kinematic equations are derived in terms of both directional cosines and quaternions. Applying the Kalman filter allows us to minimize the measurement error and refine the numerical calculation. The observation of the Euler angle covariance matrix takes on a crucial feature in the design of inertial navigation systems vital for analyzing efficient attitude.