Research on optimal eight-sample rotation vector algorithm for SINS attitude updating

Research on optimal eight-sample rotation vector algorithm for SINS attitude updating

The rotation vector algorithm is widely used in the solution of high dynamic carrier attitude, which can make proper compensation to the rotation of the noncommutativity error. In order to truly reflect the attitude information of the carrier, the more intense that the vector need to fit the curve, the higher the degree of the curve needed. In the paper, the algorithm drift of SINS mathematical platform caused by the base coning motion are analysed in detail, and made a deduction of eight-sample rotation vector algorithm. Under the coning motion, made a simulation by comparing the algorithm drift of five-sample, six-sample and eight –sample. The results show that eight - sample rotation vector algorithm can significantly improve the coning error compensation precision in high dynamic environment.