Limitations of Residual Error Estimate for Classic Coning Compensation Algorithm

摘要：

The deducing of the classic coning compensation algorithm coefficients and their residual error estimation formulas is based on the assumptions of the coning half-angle amplitude to be small and minimizing the non-periodic component of equivalent rotation vector error. Nevertheless, in the case of insufficient small for coning half-angle amplitude, low coning frequency and multi-samples algorithm, the classic residual error estimate formula may result serious errors. In this paper, a new coning residual error estimate formula, i.e. the limit of accuracy formula, is proposed even if the coning half-angle is not infinite small. Some simulation tests also verify that the periodic components of equivalent rotation vector affect coning compensation errors. The studies reveal that if the limit of accuracy formula operates in coning compensation algorithm, the approach of improving coning compensation accuracy is to shorten the equivalent rotation vector calculation period, but unlike the classic means—just by increasing the number of samples.

关键词： coning compensation equivalent rotation vector quaternion angular increment strapdown inertial navigation system.

作者: Rong Peng Gongmin Yan Yongyuan Qin

作者单位: College of Automation,Northwestern Polytechnical University,Shannxi Xian 710072,China

会议类型: 国际会议

会议名称: 2009 9th International Conference on Electronic Measurement & Instruments(第九届电子测量与仪器国际会议 ICEMI2009)

会议地点: 北京

会议语种:英文

页码: 3838-3843

在线出版日期: 2009-08-16（万方平台首次上网日期，不代表论文的发表时间）