中文摘要：

由于圆锥环境的运动形式过于简单,使得基于其获得的优化系数在实际运动环境中应用的适用性受到质疑。针对上述问题,采用无穷项傅里叶级数展开的方法描述了载体的实际运动环境,基此对姿态算法相关公式进行了重新推导,并得出了相应的姿态算法优化系数,在理论上证明了圆锥环境可以作为姿态算法优化环境。证明了增加姿态算法的子样数,提高陀螺仪的采样频率可以有效抑制姿态算法解算误差。仿真结果表明了相关结论的正确性。

英文摘要：

Since the movement form in a cone environment is too simplistic,the applicability of an optimization coefficient based on this movement is questionable for a real movement environment. In this regard,we describe the real movement environment of a carrier using a method based on an infinite Fourier series. We carry out a new derivation for formulas related to the attitude algorithm,and obtain the corresponding optimization coefficient of the attitude coefficient,which theoretically proves that the cone environment can be used as the optimization environment of the attitude algorithm. We prove that increasing the sample number of the attitude algorithm and increasing the sampling frequency of the gyroscope can effectively reduce the calculation error of the attitude algorithm. Lastly,our simulation results validate the above conclusion.