针对基于乘性误差四元数的EKF姿态确定技术,系统研究了姿态敏感器常用的欧拉角观测模型,从两个方面证明了目前许多文献中所构造的欧拉角误差相对于误差四元数矢部的测量灵敏度矩阵存在缺陷,从理论上剖析了这一问题的成因,并推导了正确的测量灵敏度矩阵形式,数值仿真进一步验证了本文的结论。 Aiming at the EKF attitude determination technique based on quaternion multiplicative error, the Euler angle observational model commonly used in attitude sensors is systematically studied. It is proved from two aspects that the Euler angle error constructed in many literatures is about four The measurement sensitivity matrix of digital vector part has defects. The cause of this problem is theoretically analyzed and the correct measurement sensitivity matrix is ​​deduced. The numerical simulation further verifies the conclusion of this paper.