In order to improve the attitude calculation accuracy of Strapdown inertial navigation system based on MIMU, this paper introduces the common methods of Strapdown inertial navigation and compares and analyzes them. The experimental results show that, under the condition of low dynamic, through the comparison and analysis of three attitude update algorithms of Euler angle method, quaternion with the Runge-Kuta method and equivalent rotation vector method., it is found that the quaternion with the Runge-Kuta method and the two-way equivalent rotational vector method are equivalent to the calculation accuracy, which is better than Euler angle method, and the calculation amount of the two-child-like equivalent rotational vector method is less than quaternion numbers algorithm.
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