针对捷联惯导系统姿态算法分析了一种旋转矢量误差估计模型，并从该模型出发，推导了几种高精度的捷联姿态算法。
An error estimate model of rotation vector was analyzed for the strapdown attitude algorithms. Based on this model, some kinds of high_accuracy strapdown attitude algorithms were deduced.
采用的新模型与算法有：零阻抗支路处理、正交化算法和量测误差估计等。
Some new models and algorithms are used, they are: zero impedance branch, orthogonal transformations, and measurement error estimation etc.
与经典的最小二乘法相比，共优点是能有效地抑制非整次谐波误差对模型参数估计的影响。
Comparing with the least squares method, the advantage of this approach in that the influence of non-integer harmonic errors on the estimate of model parameters has been effectively restricted.
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