Journal of Shanghai Jiaotong University ›› 2011, Vol. 45 ›› Issue (03): 388-0392.

• Automation Technique, Computer Technology • Previous Articles     Next Articles

A SINS Coning Compensation Algorithm Based  on Gyro Error PostCompensation

 LI  Zong-Tao-a, b , WU  Tie-Jun-b, MA  Long-Hua-b   

  1. (a.Department of Control Science & Engineering; b. Institute of Navigation Guidance and Control, Zhejiang University,  Hangzhou 310027, China)
  • Received:2010-10-13 Online:2011-03-30 Published:2011-03-30

Abstract:  The coning compensation computation in strapdown inertial navigation system(SINS) attitude updating algorithms is based on the use of compensated gyros incremental angle outputs,  the gyro output errors compensation has to be performed at the high rate of gyro output sampling,thus increasing the throughout of the navigation compater. A postcompensation algorithm was proposed to solve this problem by calculating the coning compensation with uncompensated gyros incremental angle outputs and then compensating for gyros output errors at the updating rate of coning compensation that is lower than the gyro output sampling rate. The simulation results show that the coning compensation accuracy of the proposed postcompensation algorithm is almost the same as that of traditional precompensation algorithms, but the throughput of the navigation computer is significantly reduced.

Key words: strapdown inertial navigation system(SINS), attitude updating algorithm, coning compensation, gyro output errors, postcompensation

CLC Number: