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以船舶为对象，研究了摇摆运动下的捷联惯导姿态解算问题，分析了不可交换性误差产生的原因，提出了消除该误差的等效旋转矢量方法。仿真结果表明，等效旋转矢量方法提高了导航精度。
Taking the ship as an example, the SINS attitude solving problem under the swinging motion is studied. The reason of the non-commutativity error is analyzed. An equivalent rotation vector method to eliminate the error is proposed. The simulation results show that the equivalent rotation vector method improves the navigation accuracy.