分析圆锥误差在无陀螺捷联惯导系统中的特性和表现形式，针对系统应用等效旋转矢量方法不能直接提供角增量的特点，设计和优化了角增量的获取方法，利用混沌粒子群算法优化了四子样等效旋转矢量方法中等效旋转矢量计算公式系数，并通过典型圆锥误差仿真实验验证了其能更好地消除圆锥误差的影响，提高系统导航精度．%The coning error owns new existing form and characteristics in gyroscope-free strap-down inertial navigation system （GFSINS）. For GFSINS cannot directly give out angle increment when adopting four sub samples equivalent rotation vector algorithm, the getting method was designed and optimized to improve the efficiency of gesture updating. Finally, the coefficients in the calculating formula of equivalent rotation vector was optimized by chaos particle swarm optimization algorithm. Simulation result shows that it can effectively eliminate the influence of coning error and improve the navigation precision.
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