Systems Engineering and Electronics     2023 45 (10):  3265-3273    ISSN: 1001-506X:  CN: 11-2422/TN Analysis and comparison of Euler angles based-error model based on Lie groups of the strapdown inertial navigation system Tiangao ZHU1, Yong LIU2, Kailong LI1,*, Renjie ZHAO3 1. College of Electrical Engineering, Naval University of Engineering, Wuhan 430033, China 2. College of Ship and Ocean, Naval University of Engineering, Wuhan 430033, China 3. Representative Bureau of Naval Armament Department in Beijing, Beijing 100071, China Received 2022-01-14  Revised null  Online 2023-09-25 Reference   Corresponding author: Kailong LI