An earlier work found that vehicle attitude propagation accuracy is improved by solving the problem in a reference frame that slews at a constant rate with respect to the vehicle frame. The method is effective because the angular rate of the slewing frame changes direction at a slower rate than does the angular rate of the vehicle frame. This work extends the method by introducing two or more slewing reference frames that further increase attitude propagation accuracy. The method is further enhanced by using slewing frames that have time dependent rather than constant slew rates. This enhancement is used to derive the analytical solution to pure coning motion with time dependent coning frequency. The method is applicable to dynamic simulations and strapdown inertial navigation units used on aerospace vehicles that output angular rate vectors. Several numerical examples are presented.
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