The state equations of the system are established on the basis of the relation between attitudeerror quaternion and the gyro drift.
本文以姿态误差四元数与陀螺漂移误差之间的关系为基础，构建了系统状态方程；
2
Utilizing celestial observations from star trackers, a 6-state extended Kalman filter is adopted to correct the satellites attitudeerror as well as gyro bias error.
The attitudeerror performance of electrostatic gyro should be understood and the relevant error equations must be set up in order to ensure the navigation precision of ESGM.