Comparison of Two Kinds of Algebraic Algorithms for Solving Angular Velocity in GFSINS

Based on a nine-accelerometer configuration, application integral algorithm and logarithmic algorithm to solve angular velocity of gyroscope-free strap down inertial navigation system (GFSINS). Process was derived for solving angular velocity using two kinds of algorithms, and found in experiments the signal of solving angular velocity using logarithmic algorithm can´t judge in some cases, then detailed analyzed the reason why logarithmic algorithm can´t determine solving angular velocity solver, and proposed solutions. Two kinds of algebraic algorithm were used for solving angular velocity and simulated. The results show that the error of integral algorithms accumulates relatively fast, the error of logarithmic algorithm is not accumulated, and has better efficiency and reliability.