【摘要】 本文用最简单的方法推导了旋转矢量微分方程以及旋转矢量和角速度间的重要关系式。本文还推导了旋转矢量递推算法表达式，与目前已有的两种表达式相比较，本文的表达式要更为完整和精确。更多还原

【Abstract】 In this paper,we have dericed the rotation vector differential equation and the formula of the relation between the rotation vector and the angular velocity. Besides,we have also derived a recursive algorithm expression from the rotaion vector differential equation,the noncommutativity error is divided into two parts in this expression,one of them can be compensated directly and accurately,while the other can merely be estimated according to the gyro outputs,this important conclusion is the base of deriving the algorithms to restrain the noncommutativity error.更多还原