Generalized Method for Improved Coning Algorithms using Angular Rate

Conventional attitude algorithms for strapdown inertial navigation system (SINS) use angular increment as algorithm input. However, these algorithms do not address the issue of angular rate which is the output of modern-day gyro. The integration of angular rate for the purpose of getting angular increment degrades the algorithm performance inevitably. To solve this problem, a generalized method for improved coning algorithms is proposed. The improved coning algorithms use angular rate as algorithm input and estimate the coning term with the cross product of angular rates. Simulations are carried out under coning motion. While angular rate is used as algorithm input, the accuracy of attitude computation can be improved effectively by using improved coning algorithms as compared with conventional ones.