In order to make sure the spacecraft can fly in any condition here adopted the error model was derived by Friedland in 1978, which was based on the Earth Centered Inertial (ECI) Frame.

• 为了能有利于卫星等航天器高精度自主导航本文采用1978年由Friedland提出的基于惯性坐标系下的惯性系统误差理论推导出另外一种基于惯性坐标系下的惯性导航系统。