Error analysis of the attitude updating algorithm for submarine in the dynamic environment

Attitude algorithm is an important part of SINS algorithm. The calculation of attitude algorithm is used for building the mathematic platform and its accuracy of attitude algorithm can enormously affect the accuracy of SINS. Based on the practical applying, this paper analyses Euler algorithm, orientation-cosine algorithm, quaternion algorithm, Rodrigues Parameters, optimal rotation vector attitude algorithm and an improved recursion rotation vector attitude algorithm. All algorithms, except the first one, are simulated in the classical coning motion. This paper can be used for reference for the study on attitude algorithm of SINS.