›› 2012, Vol. 32 ›› Issue (1): 15-20.doi: 10.3780/j.issn.1000-758X.2012.01.003

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Algorithm for Coning Error Compensation Based on Angular Velocity

 DUAN  Guang-Ren, ZHANG  Ze, SUN  Yong   

  1. (Center for Control Theory and Guidance Technology, Harbin Institute of Technology,Harbin 150001)
  • Received:2011-04-25 Revised:2012-02-25 Online:2012-02-25 Published:2012-02-25

Abstract: For a strap down inertial navigationsystem, the coning error compensation accuracy will be decreased and its real time capability will be worse, whenusing the angular velocity according to the traditional method. In order to solve this problem, a new algorithm was proposed by using the angular velocitydirectly without obtaining the angular increment from the angular velocity through Simpson formula or trapezoid formula. Moreover, the four sample rotationvector algorithm was derived, and the mechanism of the coning error was given. At last, the simulation results of the proposed algorithm and thetheoretical one were compared.

Key words: Strap-down inertial navigation system, Coning error, Equivalent rotation vector, Attitude updating, Spacecraft