Research on optimal six-sample rotation vector algorithms for SINS attitude updating

In the paper,the algorithm drifts of SINS mathematical platform caused by the base coning motion are analyzed in detail.A new scheme for optimizing the five-sample and six-sample rotation vector algorithms are proposed,which are realized by solving the equations.The comparisons among four-sample,five-sample and six-sample rotation vector algorithm drifts are made.The results show that the six-sample rotation vector algorithm improve the coning compensation accuracy,compared with four-sample,five-sample rotation vector algorithm.