采用四元数方法推导出SDINS数学平台角误差方程和速度误差方程，并以此建立非线性初始对准误差模型，应用扩展卡尔曼滤波(EKF)进行精对准，确定初始失调角。-using quaternion approach derived platform SDINS mathematical equations and the error rate of error equation, and the establishment of this in