Optimization of algorithms for determining orientation quaternions on the reference model of spherical motion of a rigid body in Krylov angles

Abstract

The results of the optimization of three well-known algorithms of orientation on the analytical model of the spherical motion of a rigid body, which is based on a sequence of Krylov angles that change over time according to a linear law, are presented. It is shown that the optimized algorithms have improved estimates of the accumulated computed drift compared to the non-optimized algorithms.