Uniform Nonlinear Error Model Based on Gibbs Parameter for the INS

In this paper, a uniform form for the nonlinear error model is proposed for the inertial navigation system (INS). A modified quaternion-based nonlinear error model is derived using the uniform coordinate frame for the INS. Based on the modified quaternion-based nonlinear error model, a uniform form of the nonlinear error model is proposed based on the Gibbs parameter. The uniform form can present the nonlinear error model based on low-order Rodrigues parameters or Rodrigues-like parameters for the INS. Field tests are carried out to assess the performance of the existing typical nonlinear error models.