文档介绍：第21卷第2期中国惯性技术学报 2013年4月 Journal of Chinese Inertial Technology Apr. 2013 收稿日期:2012-11-20;修回日期:2013-03-28 基金项目:国防预研基金项目资助(9140A09030606BQ0126)作者简介:毛玉良(1985—),男,博士研究生,从事定位定向技术研究。E-mail:maoyulaingready@ 联系人:陈家斌(1965—),男,教授,博士生导师。E-mail:chenjiabin ***@ 文章编号:1005-6734(2013)02-0182-04捷联惯导姿态误差模型分析毛玉良,陈家斌,宋春雷,刘朝华(北京理工大学自动化学院,北京 100081)摘要:捷联惯性导航系统以数字平台代替了平台惯导的机械平台。所谓数字平台,即存储在导航计算机中的坐标变换矩阵。四元数和旋转矢量是用来描述捷联惯导系统姿态的两种常用方法。传统的线性误差模型如psi 角误差模型、等效倾角误差模型,仅仅适用于误差角非常小的情况。对于误差角比较大的系统,误差模型变得非线性,由此引入旋转矢量误差模型。通过对加性四元数、乘性四元数以及旋转矢量误差模型的分析表明,三者是等价的,并且当误差角很小的时候,乘性四元数误差模型和旋转矢量误差模型可以退化为等效倾角误差模型。关键词:捷联惯导;四元数;旋转矢量;误差模型中图分类号::A Analysis of attitude error models of strapdown inertial navigation system MAO Yu-liang, CHEN Jia-bin, SONG Chun-lei, LIU Zhao-hua (School of Automation, Beijing Institute of Technology, Beijing 100081, China)Abstract: In strapdown inertial navigation system(SINS), the digital platform is the coordinate transformation matrix stored in the puter, whose functions are the same as that of mechanical platform in the gimbaled navigation system. The quaternions and the rotation vector are mom methods to describe the attitude of SINS. The conventional linearized error models, such as psi-angle model and the equivalent tilt (ET) model, are effective only for the system