In order to improve the accuracy of the integrated navigation based on strapdown inertial navigation system (SINS), the Euler angle error model based on body frame is investigated. First, the attitude error is considered as the rotational error between the ideal frame and the calculated frame. Second, the SINS state space model based on body frame is derived. Then, the measurement models for SINS/global navigation satellite system (SINS/GNSS), SINS/Doppler velocity log (SINS/DVL), and feedback correction are provided. Finally, the SINS/GNSS and SINS/DVL field tests are conducted to evaluate the effectiveness of investigated model. The results indicate that the proposed model can more accurately describe the motion of the carrier than traditional models, which has better stability and accuracy.
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