A New Euler Angle Error Model Without Approximation Based on SE(3) for INS

In this article, a new Euler angle model without approximation based on SE(3) is proposed to solve the problem that the low common frame performance of conventional Euler angle error model based on SE(3) for inertial navigation system (INS) when the misalignment angle error is large. First, the Euler angle error is represented by the relationship between Euler angle and the attitude matrix. Then, the left/right error model based on SE(3) without approximation is rederived, extending the conventional Euler angle error model based on SE(3) to the application of large misalignment angle error. Finally, the validity of the proposed model is verified by theoretical analysis and field experiments. The results show that the proposed model is more applicable to INS/global position system (GPS) and INS/doppler velocity log (DVL), respectively. Especially in the case of large misalignment angle, the convergence and accuracy of the proposed model are higher than the conventional model.