Nonlinear Error Model based on Quaternion for INS: Analysis and Comparisons

In this paper, a modified quaternion-based nonlinear error model is explored using three derivation methods. The modified quaternion-based nonlinear error model can be more reasonable than the traditional one due to the uniform frame problem, which is underlying and fundamental but is easy to overlook. Further, field tests for inertial integrated navigation (INS) are carried out to investigate the benefits and drawbacks of the existing nonlinear model or nonlinear error model based on Euler angles and quaternion for the INS