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To compensate the coning error of Strap-down Inertial Navigation Systems (SINS) under high dynamic angular motion, many rotation vector algorithms have been developed using angle increments information.However, most SINS use angular rate gyros. Aimed at this problem, 18 algorithms are derived based on analysis of the conventional algorithms, and corresponding coning error expressions are given. At last simulation is made which indicates that the new algorithms have much higher precision.