Attitude error models play an important role in analyzing the characteristics of navigation\nerror propagation for the design and operation of strapdown inertial navigation systems (SINS).\nHowever, the majority of existing attitude error models focus on misalignment, rather than Euler\nangle errors. Misalignment cannot directly describe attitude error propagation, which is an indirect\nmeasurement. To solve the problem, a general Euler angle error model of SINS is proposed. Based on\nEuler angle error propagation analysis, relative Euler angle errors, and convected Euler angle errors\nare introduced to compose the general Euler angle error model. Simulation experiments are carried\nout to verify the proposed model.
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