A Coning Compensation Algorithm for SINS in High Dynamic Motion

Abstract

The accuracy of coning compensation in attitude updating algorithm directly affects the navigation accuracy of SINS. A new generalized coning compensation algorithm is presented based on dividing the minor coning compensation updating interval into a number of sub-minor intervals. Unlike other existing algorithms, the updating rate of the proposed algorithm is independent of the number of gyro incremental angles for calculating the coning compensation. The relationship between the attitude errors and the coning compensation updating rate as well as the number of gyro incremental angle samples for calculating the coning compensation is deduced for quantitative analysis of the new coning compensation algorithm under typical coning movement conditions. The result reveals that the attitude errors caused by the vehicle coning movement may be decreased by increasing the updating speed of coning compensation or increasing the number of gyro incremental angle samples in each sampling interval for calculating the coning compensation. But the selection of the number of gyro incremental angle samples has more complex effects than the selection of the updating speed of coning compensation on the attitude error.