A new version of separating the process of integrating the equations of autonomous strapdown INS into rapid and slow loops

We propose a new version of separating the process of integrating the differential equations which describe the functioning of a strapdown inertial navigation system (SDINS) in the normal geographic coordinate system (NGCS) into rapid and slow loops. In this version, the vector of the relative velocity of an object and the quaternion which defines the orientation of an object in the NGCS are divided into two components, one of which changes rapidly and the other one changes slowly. A method for integrating the systems of equations for rapid and slow loops using the predictor-corrector method and the Euler-Cauchy method is developed. The results of the simulation of SDINS installed on an object which is fixed relative to the Earth and on an object which performs the dive with large changes in altitude over short periods of time are presented.