经典旋转矢量算法通过增加算法子样数来提高圆锥补偿精度,但同时会降低系统姿态更新频率,引入更大的圆锥误差,导致无法提高系统姿态解算精度。针对上述问题,结合刚体有限转动的Goodman-Robinson理论,从运动学角度给出了圆锥误差的诠释,提出了流水式旋转矢量姿态更新算法。该算法在保证圆锥补偿精度的同时提高了系统姿态更新频率,减少了由等效旋转矢量算法引入的圆锥误差,最终实现提高系统姿态解算精度的目的。试验结果表明,该算法与现有某型激光惯导所采用的经典四子样旋转矢量算法相比,姿态更新频率提高了4倍,姿态解算精度提高了30%。 Classical rotation vector algorithm can improve the coning compensation accuracy by increasing the sub-samples of the algorithm, but at the same time, the system updating frequency will be reduced and a larger conical error will be introduced, resulting in the inability to improve the system attitude resolution. In view of the above problems, this paper gives an explanation of the coning error from kinematic perspective and combines with Goodman-Robinson theory of finite rotation of rigid body, and proposes a stream-water rotation vector attitude updating algorithm. This algorithm not only improves the accuracy of cone compensation, but also improves the attitude updating frequency of the system and reduces the coning error introduced by the equivalent rotation vector algorithm. Finally, the purpose of improving the attitude resolution of the system is achieved. The experimental results show that the proposed algorithm improves the frequency of attitude update by 4 times and improves the attitude estimation accuracy by 30% compared with the classical four-subsample rotation vector algorithm of a conventional laser inertial navigation system.