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�������պ����ѧѧ�� 2005, Vol. 31 Issue (12) :1312-1316    DOI:
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κ����, �Ŵ���, �����*
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High accuracy coning compensate algorithm by angular velocity
Wei Xiaohong, Zhang Chunxi, Zhu Kuibao*
School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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Abstract�� 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.
Keywords�� algorithms   coning error   error correction   rotation vector   strapdown inertial navigation system     
Received 2004-10-10;
About author: κ����(1979-),Ů,������ګ����,˶ʿ��, smallrainbow wi@eyou.com.
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κ����, �Ŵ���, �����.һ�ָ߾��Ƚ�����Բ׶�����㷨[J]  �������պ����ѧѧ��, 2005,V31(12): 1312-1316
Wei Xiaohong, Zhang Chunxi, Zhu Kuibao .High accuracy coning compensate algorithm by angular velocity[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2005,V31(12): 1312-1316
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