Improved Equivalent Rotation Vector Based Attitude Updating Algorithm of Strapdown Inertial Navigation System Under Highly Dynamic Environment

The navigation algorithm of Strapdown Inertial Navigation System(SINS) under highly dynamic environment is studied,which is the key technology to improve the accuracy of SINS.The quaternion and equivalent rotation vector algorithms of resolving the attitude matrix were analyzed, and the equivalent rotation vector algorithm was developed in view of the application problem under highly dynamic environment.Aiming at adapting the algorithm to the application in highly dynamic flight environment,an improved equivalent rotation vector algorithm was proposed on the basis of coning motion environment,and the calculation error was derived.The performance was compared to one-sample and three-sample rotation vector algorithms.Simulation results indicate the effectiveness of the improved algorithm.