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General formulas of coning compensation algorithm with angular rate input
Yang Sheng, Fang Jiancheng*
School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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Abstract�� When the traditional coning compensation algorithm applied in the strapdown inertial navigation system (SINS), which comprises of angular rate gyroscopes, the algorithm error increased dramatically. The general formulas of coning compensation algorithm, taking arbitrary samples of angular rate signal as input, were presented. Together with an improved algorithm, which utilizes angular rate signal and gyro increments from previous and current attitude update periods simultaneously. Then the algorithms were optimized by minimizing algorithm drift error under classical coning motion, and the coning compensation coefficient equations and algorithm error expressions were deduced respectively. The coning compensation algorithms, with arbitrary samples of angular rate signal as input, can be easily obtained from the deduced formulas. And the corresponding coefficients can be computed from the linear equations. Simulation result shows that the improved angular rate coning compensation algorithm was greatly improved in accuracy than regular algorithm with the same number of gyro angular rate samples.
Keywords�� strapdown inertial navigation system   coning error   error compensation   rotation vector     
Received 2007-07-30;

����863�ƻ�������Ŀ(2006AA12A108, 2006AA06Z223)

About author: �� ʤ(1982-),��,ɽ���ij���,��ʿ��,buaa_ys@tom.com.
��ʤ,������.������������Բ׶�����㷨��һ����ʽ[J]  �������պ����ѧѧ��, 2008,V34(8): 920-924
Yang Sheng, Fang Jiancheng.General formulas of coning compensation algorithm with angular rate input[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2008,V34(8): 920-924
http://bhxb.buaa.edu.cn//CN/     ��     http://bhxb.buaa.edu.cn//CN/Y2008/V34/I8/920
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