Angular rate input attitude algorithm structure and parameter optimization method

The invention discloses a novel angular rate input attitude algorithm structure and a parameter optimization method. Aiming at the problem that the traditional angular rate input attitude algorithm coning error compensation structure cannot fully utilize available angular rate information, the invention provides an improved attitude algorithm coning error compensation structure so as to provide a novel angular rate input attitude algorithm structure. On the basis of defining the classical conical motion form and analyzing several necessary conical motion characteristics, the provided attitude algorithm coning error compensation structure is simplified to obtain a condensed attitude algorithm coning error compensation structure; a coning error compensation error criterion is defined, and the specific description of the error criterion is derived; a coning error compensation optimization object and a coning error compensation optimization method are selected, and parameter optimization designing on the coning e