High order uncompressed coning algorithm in high dynamic environments

Due to the increasing accuracy of inertial devices and the high dynamics of carriers, higher accuracy requirements are presented for the attitude updating algorithm. Most of the existing attitude updating algorithms ignore the high order error term of the equivalent rotation vector. They only compensate for the coning error term in low dynamic environments. As a result, they will produce large attitude errors in high dynamic environments. To solve this problem, a novel high order uncompressed coning algorithm is derived. The simulations are carried out in the pure coning environment and the regular precession environment with different parameters. Compared with the existing attitude algorithms, the simulation results show that the new proposed high order uncompressed coning algorithm can further improve the accuracy of attitude updating. In particular, it can increase the accuracy of attitude updating algorithm by two orders of magnitude in high dynamic environments.