Coning Algorithm for Strap-Down Inertial Navigation System

Under the condition of high dynamic angular motion or vibration environment, determining and compensating the non-commutivity vector is important to calculate the attitude matrix of strap-down inertial navigation system. To compensate the coning error introduced by the non-commutivity vector, this paper analyzes many custom algorithms. Although custom algorithms need to input the angle information, the angular velocity is more powerful under the condition of high dynamic angular motion or vibration environment. Based on the case where the output signal is angular velocity, a class of new algorithm is introduced. Compared with the custom algorithms, the new algorithms have better performances when using same memory size and computing time. And then, by analyzing the error performances of new algorithms, a standard is provided for the parameter selection.