A Novel Error Compensation Term in Velocity Updating of SINS under Coning Angular Motion Conditions.

Coning effects must be accurately compensated in the attitude updating of the classical strapdown inertial navigation integration algorithm. These effects are not involved in the velocity updating, though the attitude change is being taken into it. The novel velocity error term induced by the coning correction is studied in this paper. These effects as the gyro angular increment data have the influence on the velocity updating in the same way. For the assumed linear ramp model, a two-sample compensation algorithm for the novel velocity error term is deduced in detail by using the two successive integrated angular rate increment and specific force increment measurements. The weighting coefficients are then optimized for best average performance in a specific environment; i. e. the body is exposed to a coning angular vibration about the x axis of the body frame combined with a linear vibration at the same frequency and in phase along the z axis. The simulation results validate that the two-sample optimization algorithm can compensate the integrated term of the novel velocity error effectively. [ABSTRACT FROM AUTHOR]