A Generalized Coning Correction Structure for Attitude Algorithms

A new coning correction structure is presented for attitude update coning correction. Different from the previous rate-based and increment-based coning correction structures, the new structure contains cross-product of angular rates, cross-product of angular increments, and cross-product of angular rate and increment (an angular increment may be approximated from angular rate samples). Two types of optimization methods including time Taylor-series method and frequency Taylor-series method were utilized to design the structure coefficients including the uncompressed and the compressed. Two types of algorithm error models including one applicable to coning environments and the other two applicable to maneuver environments were defined and used for analyzing or evaluating the algorithm performance. The derivation procedure of a rotation vector magnitude extraction method is included. Analysis and simulation results indicate that the new structure-based algorithm with the compressed coefficients designed by using frequency Taylor-series method gives a superior algorithm performance in coning environments and maneuver environments.