中文摘要：

惯性器件的误差会使导弹飞行参数计算产生偏差，直接影响导弹的命中精度，通过实验数据分离惯性器件工具误差系数并反馈给数学平台进行误差补偿是提高导弹命中精度的主要手段。在四元数的基础上建立了捷联惯导系统工具误差分离模型，并对该模型进行了工具误差系数分离。仿真实验结果验证了该工具误差模型的正确性，其系数分离结果要优于传统的欧拉角误差模型，该模型的建立为捷联惯导技术的工程实践提供了重要参考。

英文摘要：

The error of inertial measurement device leads to computation bias of flight parameters, so as to affect the accuracy of the missile directly. So separation of the tool error coefficient using experimental data and sending it back to the math platform is a primary way to improve the missile＇s hit accuracy. The SINS instrumentation error separation model was built based on quaternion and then the model was used for separating the coefficient of instrument error. The simulation and experimental result verify the validity of the instrument error model. The coefficient separation results are better than the traditional Euler angle error model. The SINS model＇s establishment provides an important reference for engineering practice.