New Coning Error Compensation Method Using Direct Signal Estimation

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Kang, Chul Woo; Park, Chan Gook; Cho, Nam Ik

Issue Date
18th IFAC Symposium on Automatic Control in Aerospace
INSinertial navigationattitude algorithmconing erroradaptive notch filter
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.
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College of Engineering/Engineering Practice School (공과대학/대학원)Dept. of Mechanical Aerospace Engineering (기계항공공학부)Others_기계항공공학부
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