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.

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。

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This paper introduces the principle of fiber optic gyro, studies the attitude algorithm of fiber optic gyro ship attitude system, introduces the quaternion algorithm and rotation vector algorithm.

对四元数法和等效转动矢量法的滚转弹姿态解算精度进行比较，并通过打击机动目标的仿真试验验证了姿态解算精度对制导精度的影响。

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Furthermore, a new candidate model is proposed that handles similarity transformation, and the corresponding MS algorithm can be obtained that estimates the translation vector and rotation Angle.

另外，针对进行相似性变换的目标也提出了一种新的候选目标模型，并用类似的梯度下降算法估计目标的平移向量和旋转角度。

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