Study of the Attitude Algorithm of MEMS IMU Based on Improved Coning Compensation for High Speed Rotating rigid body

The classical algorithms for strap down attitude are dependent upon the first-order rotation vector equation is difficult to fit the high dynamic environment, which is angular rate is higher than 60 rad/s. This paper presents the analysis result of the error composition of coning algorithm on the basis of the classical three-sample coning algorithm. This confirms the high impact of the truncation for the accuracy of attitude calculation in the high dynamic environment. It also indicates that the impact cannot be reduced by increasing samples in a single cycle. For the purpose of reducing the influence of truncation error on attitude calculation, it proposes an attitude algorithm based on an improved coning compensation structure. The proposed algorithm can effectively compensate the truncation error by error compensation model. Simulation based test results prove that the improved performance of new algorithm performance is obviously because of the classical three-sample coning algorithm. The proposed coning algorithm architecture can also be applied to a generalized coning algorithm to arbitrary samples of the gyro.