We simply introduce the application of quaternion numbers in inertial measurement , research the calculation of direction cosine array and introduce equal rotating vector to analyze cone error 介紹了四元數(shù)法在慣性測(cè)量中的應(yīng)用,研究了方向余弦矩陣的計(jì)算方法,并引入等效旋轉(zhuǎn)矢量對(duì)圓錐誤差進(jìn)行了分析。