Single Sample rotation vector method in the attitude angular rate input conditions

The present invention discloses a method of list-like rotation vector attitude angular rate input at one kind of condition, the method comp rotation vector algorithm list of Rotation and angular vector algorithm based on the angular increment rate, the algorithm is applied to the sample list based on angular rate the conical case error compensation algorithms, particularly with the current time and the angular velocity of the first N time to fit the coning compensation term, optimum compensation term coefficients obtained from solving linear equations, may be provided only in the angular rate gyroscope next, using the angular rate input is completed and holding attitude solution resolver matches the frequency to the sampling frequency. The method of the present invention is neither introduce errors caused by angular increments extracted from the angular rate, and no decrease of the attitude update frequency of the system.