AN IMPROVED ROTATION VECTOR ATTITUDE ALGORITHM FOR LASER STRAP-DOWN INERTIAL NAVIGATION SYSTEM

摘要

The laser gyro is most suitable for building the strap-down inertial navigation system (SINS), and its accuracy of attitude algorithm can enormously affect that of the laser SINS. This paper develops three improved algorithmal expressions for strap-down attitude utilizing the angular increment output by the laser gyro from the last two and current updating periods according to the number of gyro samples, and analyses the algorithm error in the classical coning motion. Compared with the conventional algorithms, simulational results show that this improved algorithm has higher precision. A new way to improve the rotation vector algorithms is provided.