Coning Error Analysis of Strapdown Inertial Navigation System

Coning motion is a geometric effect of rigid motion , and coning error from coning motion is an essential error source of strapdown inertial navigation system (SINS). The kinematic mechanism of generating coning error indicates that coning error can be reduced through system design and compensatory algorithm , but can not be eliminated. The magnitude of coning error which is affected by the fixing error , gyro’ s quantizing error and frequency band , and so on is deduced based on the analysis of kinematic mechanism of coning error generation. Moreover , the Goodman-Robinson theory of rigid coning motion is introduced , and an effective correction algorithm of coning error is deduced with this theory. Simulation result shows that the effect of coning error on system precision can be reduced via improved hardware precision and software compensation.