A High-Order Coning Error Compensation Algorithm Under High Rate Maneuvering

High-precision strapdown inertial navigation system (SINS) is of vital importance for a variety of applications. The attitude performance of SINS needs to be paid special attention especially when the platforms work under high rate maneuvering. The traditional method is based on the rotation vector algorithm by leveraging multiple samples of gyro measurements. However, the accuracy of the multiple samples algorithm is limited as the higher-order term error has not been taken into consideration. In the paper, a new high-order coning error compensation algorithm is proposed for strapdown inertial navigation system. A general algorithm for the high-order Picard component of the rotation vector differential equation is presented and a simplified correction structure of the high-order non-commutativity error is given. Simulations under coning vibrational environments showed that the proposed algorithm has higher attitude accuracy under highly dynamic vibrational conditions compared with the existing methods. Thus, the new high-order attitude updating algorithm can improve the accuracy of inertial navigation.