New Coning Error Compensation Method Using Direct Signal Estimation

This paper proposes new coning mitigation algorithm based on the signal processing technique. For accurate attitude calculation of inertial navigation system, the coning error mitigation is a key part of attitude computation. Many researchers have used gyro outputs to calculate higher-order correction terms. But these results have a performance limit because they assume the signals to be polynomials. The proposed algorithm detects and estimates the sinusoidal components from gyro measurements. If coning signals occur in gyro measurements, a sinusoidal signal can be estimated using adaptive notch filtering, and higher-order correction terms can be calculated from parameters of this estimated signal. The proposed algorithm can properly operate on a vehicle with continuous and steady oscillations. Simulation results show that the direct compensation algorithm worked efffectively.