For the multiplicative quaternion-error attitude determination approach, the attitude sensors for Euler angle measurements are studied. Two different methods were used to demonstrate that the measurement sensitivity matrix of Euler angle error with respect to error quaternion solved in many references is false. The correct measurement sensitivity matrix is presented and the reason for this mistake is analyzed in detail, and the numerical examples are given for the validation and verification of the conclusions.%针对基于乘性误差四元数的EKF姿态确定技术,系统研究了姿态敏感器常用的欧拉角观测模型,从两个方面证明了目前许多文献中所构造的欧拉角误差相对于误差四元数矢部的测量灵敏度矩阵存在缺陷,从理论上剖析了这一问题的成因,并推导了正确的测量灵敏度矩阵形式,数值仿真进一步验证了本文的结论.
展开▼
