Study on attitude updating algorithm of SINS

摘要

The attitude updating is the key technology of strapdown inertial navigation, whose precision has a great influence on strapdown inertial navigation system(SINS) that is short for strapdown inertial navigation system. So in order to increase the precision of the system, it is of great significance to choose an attitude updating algorithm of high-precision. The representative algorithms are Euler angle algorithm, direction cosine algorithm, quaternion algorithm, rotation vector algorithm and improved rotation vector algorithm. Based on the practical applying, this paper studies on the Euler angle algorithm, quaternion algorithm and three-sample improved rotation vector algorithm respectively and simulations were carried out to analyze the performance of each algorithm under the circumstance of coning motion.