Abstract

Based on the detailedly overview of SINS error modeling method, this paper discusses the SINS’ error models with different math expression methods within the same reference coordinate system, and their relationship. As well it discusses the conversion relationship of certain mathematical error model between different reference coordinate systems. Specific to t-Frame and c-Frame, it detailedly deduced the navigation system error model equations with different mathematical forms. And finally it analyzed the application scope and conditions of the various SINS system error models. In this paper, the research results about the SINS error modeling have an important theoretical guidance and significance.

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