Abstract: Aiming at the problem of attitude measurement error in the inertial navigation system of micro and small guided ammunition under eccentric structure, the attitude solution and error compensation optimization are studied by using rotation vector optimization of multiple sub-samples, such as monotone sample, two sub-samples, three sub-samples and four sub-samples, and the fourth-order runge kutta algorithm. Through error compensation and optimization of measured data, the results show that the monomorphic modified algorithm has the worst optimization effect, the fourth-order runge kutta optimization algorithm has the best effect, and the maximum drift error of attitude Angle is better than 10^-4deg.It is shown that the four-order runge kutta optimization algorithm can be used to calculate the attitude of micro-guided munitions with eccentric structure, and the attitude angular drift error is within the allowable range.

Key words: Micro-miniature guided munitions, Eccentric structure, Attitude solution, Multi-sample rotation vector, Fourth-order Runge Kutta