New rotation vector algorithm based on a high‐order polynomial

To effectively compensate the non‐commutativity error existing in attitude computation, a new rotation vector algorithm is presented in this study. In order to calculate the rotation vector, a high‐order polynomial which accurately describes the angular motion of carrier is introduced. By this algorithm, it is easy to increase the attitude computation accuracy without the need for increasing the output frequency of the gyro. The algorithm's performance is compared with classical multi‐sample algorithm and optimal coning algorithm in the context of coning motion. Simulation results demonstrate that the new algorithm outperforms optimal coning algorithm in high dynamic environment and classical multi‐sample algorithm in low dynamic environment (by 2–3 and 1–2 orders, respectively).