An Attitude Calculating Algorithm Based on Rotation Quaternion

In order to suppress non-commutable error which can't be decreased by traditional attitude calculation algorithms,a rotation quaternion differential equation which can be used in small angular motion of big vehicle was derived by means of rotation vector.Comparison between rotation quatemion algorithm and additive quaternion error algorithm was performed on attitude error calculated by each.The results prove that under low dynamic condition,the rotation quaternion algorithm can not only suppress the non-commutable error effectively,but also perform well under big misalignment angles,moreover,the approach has some important features such as less computation complexity,easier implementation and high precision.