Abstract
When the Multi-Orthogonal Signal Underwater Navigation System(MOSUNS) works on a moving platform, the movement of the platform will bring some errors to the positioning of the MOUNS. To solve this problem, a motion error model is established based on the homogeneous coordinates and the homogeneous rotation matrix, and the relationship between the positioning error and the Rotating velocity of the moving platform (roll rate, pitch rate, yaw rate) is accurately described. The motion error model is verified by the simulation of the MOSUNS on the motion platform through MATLAB.
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