Research on coning compensation algorithms for SINS

High speed and accuracy coning compensation algorithm plays an important role in strapdown inertial navigation system (SINS) in high dynamic environment. To reduce the effect of coning error, a deep research on design of coning compensation algorithm and character of coning compensation error is made. The angular rate vector of pure coning motion is given at first, then the incremental attitude vector, the cross product of two incremental attitude vector and the equation of coefficients are derived. Twenty-one types of coning compensation algorithm are obtained by this means. The computer simulation is taken to give the character of compensation algorithm and the result is shown.