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New Coning Error Compensation Method Using Direct Signal Estimation
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- Authors
- Issue Date
- 2010-09-06
- Citation
- 18th IFAC Symposium on Automatic Control in Aerospace
- Keywords
- INS ; inertial navigation ; attitude algorithm ; coning error ; adaptive notch filter
- Abstract
- 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.
- Language
- English
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