[1] Shibata M.Error Anaysis Strapdown Inertial Navigation Using Quaternion[J].Journal of Guidance,Control and Dynamics,1997,7(3):329-381

[2] Jared J M.Toward Auto-Calibration of Navigation sensors for Miniature Autonomous Underwater Vehicles[D].Blacksburg,Virginia,USA:Virginia Polytechnic Institute and State University,2003:13-24

[3] Sameh N.Improving the Inertial Navigation System (INS) Error Model for INS and INS/DGPS Applications[D].Alberta,Canada:The University Of Calgary,2003:10-59

[4] Jiang H,Yang W Q.State space modeling of random drift rate in high precision gyro[J].IEEE Trans on AES,32(3):1138-1143

[7] Miao Ling-juan,Zhang Fang-sheng,Shen Jun,et al.Data analysis and modeling of fiber optic gyroscope drift[J].Journal of Beijing Institute of Technology,2002,11(1):50-55