The present disclosure provides a method for solving an attitude of a rigid body based on function iterative integration, including: step 1, fitting a polynomial function of an angular velocity according to a gyroscope measurement value over a time interval; step 2, iteratively calculating a Rodrigues vector by using the fitted polynomial function of the angular velocity and a Rodrigues vector integral equation; and Step 3, and obtaining an attitude change over the time interval in terms of quaternion according to the final iterative result of the Rodrigues vector.
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