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传统的小干扰方程并不能描述捷联惯导系统在大失准角下的误差传播特性，推导了姿态误差为大角度时的四元数误差方程，并指出当姿态误差为小量时，所推导的误差模型与小干扰方程是等价的。仿真结果表明在大失准角下的空中对准过程中，采用四元数误差方程以及非线性滤波技术能有效地提高对准精度。
基于四元数误差模型的捷联惯导系统对准方法
【摘 要】
：
传统的小干扰方程并不能描述捷联惯导系统在大失准角下的误差传播特性，推导了姿态误差为大角度时的四元数误差方程，并指出当姿态误差为小量时，所推导的误差模型与小干扰方程是等
【机 构】
：
School of Automation
【出 处】
：
中国航空学报
【发表日期】
：
2004年期
【基金项目】
：
国家自然科学基金
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