Compound rotation control algorithm for rotational INS

Firstly, the modulation influence of rotational platform's control error on the inertial navigation system (INS) is analyzed. Then, based on the mathematical model of the rotational platform and the control requirements for the rotation modulation technology, a compound algorithm based on active disturbance rejection control (ADRC) and sliding model control (SMC) is put forward. The compound algorithm takes full advantage of SMC's superiority to decrease control error and ADRC's ability to estimate system states. Meanwhile, a fusion strategy is designed. The simulation and experiment results show that compared with the traditional PID method, the proposed algorithm decreases the speed error of the platform, and minishes the angular overshoot and responding time more than 50% when changing the rotation direction.