Approach to improving maneuver performance of angular rate-based coning algorithms

Improvement to classical coning algorithms in maneuver performance based on a match correction structure

“…In the SINS attitude updating, the equivalent rotation vector is generally calculated by using the simple approximation form 1,4,7–9,12,15,17 where φl is the equivalent rotation vector, t is the time, ω is the gyro sensed angular rate vector at the t time, αl is the integral of ω in time domain [tl-1,tl], and δφl is the analytical form of the coning correction.…”

“…In numerical integration algorithm, the integrated angular rate αl is generally achieved by accumulating gyro output, and the numerical coning correction δ^φl 4–8,11,12,15,17 is early approximated using the traditional uncompressed form where Δα s are some angular increment samples spaced adjacently, sequentially, and with a fixed sampling time interval T k , ΔαN-L+1 and ΔαN are, respectively, the first sample and the last sample over time domain [tl-1,tl], ςij is an undetermined correction coefficient, and L and N are, respectively, the number of sample used for calculating αl and δ^φl in a …”

“…A more refined algorithm structure proposed in Tang et al. 17 is given by where I s is an undetermined correction coefficient and ΘN is the sum of the last two of all selected samples in a l cycle.…”

“…Tang et al. 17 told us that the algorithm structure of equation (5) is superior to the algorithm structure of equation (3) in the maneuver accuracy of the algorithm. The character of the algorithm structure of equation (5) is that the front N − 1 ones of all N samples in a l cycle are multiplied by the sum of ΔαN and ΔαN-1 rather than the single ΔαN as a public item.…”

“…Compared with the classical compressed algorithm, the match coning algorithm has an obvious improvement in maneuver performance. Compared with the coning algorithm presented in Tang et al., 17 the match algorithm is easier to implement in the application. Compared with the half-compressed coning algorithm, the match algorithm is more refined.…”