In this paper, the quaternion of ${b}$ -frame based nonlinear error model is proposed for the INS. According to the definition of the attitude error, the quaternion of ${b}$ -frame based nonlinear error model has been derived by additive and multiplicative relationship. Then, a discussion and analysis is made to compare the proposed model in additive and multiplicative relationship with the quaternion of ${n}$ -frame based nonlinear error model. In addition, an analysis and comparsion of ${b}$ -frame and ${n}$ -frame based nonlinear error model is made to have a theoretical justification to describe why ${b}$ -frame is superior to ${n}$ -frame based nonlinear error model. Finally, field tests are carried out to access the performance of the quaternion of ${b}$ -frame and ${n}$ -frame based nonlinear error model in the additive and multiplicative relationship for the INS.

中文翻译：

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惯性导航系统非线性误差模型的基于四元数的姿态误差

在本文中，四元数 ${b}$ 为 INS 提出了基于 -frame 的非线性误差模型。根据姿态误差的定义，四元数为 ${b}$ 已经通过加法和乘法关系推导出基于框架的非线性误差模型。然后，对提出的模型与四元数的加法和乘法关系进行了讨论和分析。 ${n}$ 基于框架的非线性误差模型。此外，分析和比较 ${b}$ - 框架和 ${n}$ 基于框架的非线性误差模型具有理论依据来描述原因 ${b}$ -frame 优于 ${n}$ 基于框架的非线性误差模型。最后，进行现场测试以访问四元数的性能 ${b}$ - 框架和 ${n}$ INS 加法和乘法关系中基于 -frame 的非线性误差模型。