High accuracy coning compensate algorithm by angular velocity

Traditional coning compensation algorithm error greatly increased while angular velocity signal was algorithm input. Considering the direct angular velocity signal output from fibre optic gyroscope (FOG), a novel coning compensation algorithm was introduced and it need input angular velocity signal. In the attitude updating period, the expression of the angular velocity output from FOG was educed by the output signal from FOG. Combining the rotation vector differential equation, the new algorithm expression was deduced. The new algorithm was optimized by the least arithmetic excursion error. These motions, regular forward and rotation motion, coning motion and the coning motion with noise, were test input. Compared with custom algorithms, the new algorithm performance is better in computing time and computing accuracy. Also the new algorithm expression conveniences attitude error compensation. The introduction of the new algorithm is a new idea to calculate attitude error compensation of FOG strapdown inertial navigation (SINS) under the condition of high dynamic angular motion.