The LCR-100 Gyrocompass AHRS is a north finding attitude and heading reference system based on a state-of-the-art fibre-optic gyro and micro-electromechanical (MEMS) accelerometers.
The state equations of the system are established on the basis of the relation between attitude error 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；
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The laser gyro inertial surveying and attitude reference system model with incomplete inertial sensors are first derived under the body dynamic constraint.