Research on improved coning algorithm with angular rate inputs

The coning error of coning algorithm based on incremental angle is degraded seriously in case of inputting angular rates in a SINS. Improved coning algorithm was proposed, based on current angular rates, incremental angle and previous incremental angle. Error and efficiency of the algorithm was analyzed for a pure coning motion. Simulation was performed, results show that the method reduces coning error effectively, has a high computational efficiency, and is more applicable in engineering.