An improved attitude algorithm for SINS with angular rate input

To solve the problem that the accuracy of rotation vector attitude algorithm computed only by incremental angle was degraded with angular rate input, an improved rotation vector attitude algorithm for strapdown innertial navigation system (SINS) was proposed combined with the current angular rate, incremental angle and previous incremental angle. Under the conditions that angular rate was sampled, good effect was obtained to compensate the cone error theoretically. Simulation results of pure conical motion show that the attitude accuracy of SINS is improved.