为了在无陀螺捷联惯导系统中应用旋转矢量算法，如何获得载体的相对角位移、并保证载体相对角位移的精度和更新频率是非常重要的问题。

It is very important to apply rotation vector algorithm to the GFSINS that how to attain the relative angular displacement and meet its precision and updating frequency.

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提出陆用捷联惯导系统中里程计刻度因子的在线辨识算法。

An online identification algorithm of odometer's scale factor in land used strapdown inertial navigation system is put forward.

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捷联姿态算法研究。

Study on attitude-updating algorithm.

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