Coning algorithm design for angular rate inputs

• 1、Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
• 2、Key Laboratory of Fundamental Science for National Defense-Novel Inertial Instrument & Navigation System Technology, Science & Technology on Inertial Laboratory, School of Instrumentation and Opto-electronics Engineering, Beihang University, Beijing 100191, China

Abstract：Aiming at low accuracy problem of conventional inertial strapdown navigation attitude algorithm for angular rate inputs in high dynamic environments, a coning error correction frequency-domain optimization algorithm for angular rate inputs in expected coning environments was proposed. Firstly, coning error normalization was built for angular rate inputs according to the analysis of the general expression of coning error correction algorithm. Then, the optimal goal of coning error correction was determined based on principle of least square. Simultaneously, coning error correction optimization coefficients were derived for angular rate inputs. And, vehicle motion environments were discussed. Last, the accuracy analysis of both algorithms was implemented by comparing new algorithm with frequency Taylor algorithm through computational simulation. Results indicate that the accuracy of new algorithm is significantly superior to frequency Taylor algorithm in high frequency coning environments.

Keywords： waterway transportation angular rates coning environments coning error correction optimization algorithm