A Novel Error Model Based on Quaternion of Body Frame of SE(3) for Inertial-Integrated Navigation

In order to improve the performance of the integrated navigation, the error model based on quaternion of body frame (b-frame) of special Euclidean group [SE(3)] for inertial-integrated navigation is proposed. The error model based on the quaternion of SE(3) is extended into the body frame, and the complementary structure for the model is achieved. The discussion and comparison are conducted between the proposed model, error models based on the quaternion of the navigation frame (n-frame) of SE(3), and Euler angle error models in b-frame and n-frame of SE(3). This systematic analysis has a significant impact on attitude theory and error models of SE(3). The vehicle and ship-board experiments for strapdown inertial navigation system/global position system (SINS/GPS) and SINS/Doppler velocity log (SINS/DVL) integrated navigations are carried out to evaluate the performance of the proposed model and traditional models of SE(3). The study demonstrates the proposed model’s effectiveness in improving navigation accuracy in both underwater and above-water environments. Overall, this article provides a valuable contribution to the field of attitude theory and error models of SE(3).