Coning algorithm based on singular perturbation

Purpose - The aim of this paper is to propose a new coning correction algorithm, based on the singular perturbation technique, for the attitude update computation with non-ideal angular rate information. Design/methodology/ approach - Unlike conventional coning correction algorithms, the new method uses angular rate two-time scale model to construct the coning correction term of attitude update. In order to achieve balanced real/pseudo coning correction performance, the selection guidelines of the new algorithm parameters are established. Findings - Performance of the new algorithm is evaluated by comparison with the conventional algorithm in no ideal sensors undergoing stochastic coning environments. The accuracy of attitude update can be improved effectively with reduced computational workload by using this new coning algorithm as compared with conventional ones. Practical implications - The proposed coning correction algorithm can be implemented with angular rate sensors in UAV (unmanned aerial vehicle) and other aircrafts attitude estimation for navigation and control applications. Originality/value - Singular perturbation is an effective method for structuring coning correction algorithm with filtered angular rate outputs in stochastic coning environments. The improved coning correction algorithm based on singular perturbations reduces the real and pseudo coning effects effectively as compared with conventional ones. It is proved to be valid for improvement of accuracy with reduced computations of the attitude update.