OPTIMAL STRAPDOWN ATTITUDE INTEGRATION ALGORITHMS

The paper examines various algorithms for integrating the noncommutivity rate equation arising in the implementation of the attitude reference function of a strapdown inertial navigation system, and derives a class of optimized algorithms for performing this integration. The accuracy characteristics associated with each of the algorithms, when the system is exposed to pure coning motion, as well as to a generalized vibrational environment, are defined. The class of optimized algorithms is shown to minimize the mean error in the correction provided by the algorithm in a generalized vibrational environment. © 1990 American Institute of Aeronautics and Astronautics, Inc., All rights reserved.