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The intention of this paper is to propose the optimal four-sample and two-time iteration algorithm for SINS attitude updating which is based on the criteria of the minimum of the cone error. The comparison among three-sample and four-sample rotation vector algorithm drifts of single loop and three-sample and four-sample algorithm drifts of double loop was made. Results show that the optimal four-sample and two-time iteration algorithm outperforms others in case of high-frequency coning motion. Therefore, it can be concluded that the accuracy of the new attitude algorithm has been improved.