An Improved Coning Error Compensation Algorithm

For attitude updating, the conical motion environment is worse than the polynomial angular motion environment, which will generate larger non-commutative errors. If the attitude updating algorithm can adapt to the conical motion environment, it can also be applied to the polynomial motion environment. The current multi-subsample algorithm for coning error compensation has a defect, that is, when the number of subsamples in each compensation period increases, the attitude update frequency will decrease. To solve this problem, an improved coning error compensation algorithm is proposed. The coning error compensation formula of the new algorithm is derived in detail by using the angle increment information of the other N period and the angle increment information of the current moment, and the compensation coefficient is determined. The simulation results show that the attitude updating frequency can be improved to the same as the sampling frequency of gyro on the premise that the accuracy of the coning error compensation is improved compared with the traditional coning error compensation multi-subsample algorithm.