An Improved Attitude Compensation Algorithm in High Dynamic Environment

With the advent of high-precision gyro laboratory prototypes and the widespread use of gyros in high-dynamic fields, the requirements for navigation calculations will definitely increase. The traditional cone error compensation algorithm is very effective in pure cone motion environment with small half cone angle. However not only the triple cross product term of the noncommutativity error is ignored but also the cross-product terms of the angular increment are simplified in this algorithm for convenience. Thus, the attitude error is extremely huge when the half cone angle is large or in high dynamic environments. Aiming at the above problems, this paper proposes an improved high-precision attitude compensation algorithm based on Taylor series expansion. In this improved algorithm, the neglected and simplified items indicated above are both considered carefully. On this basis, the compensation coefficients are given after deducing in detail. Our algorithm does not need to know the coefficient model in advance, so it is more practical and has advantages in deriving high-order algorithms or sculling compensation algorithms. In order to verify the performance of the algorithm, pure coning and high dynamic environment simulations are performed. And the results show that the improved attitude compensation algorithm can obtain higher precision, which proving its feasibility and effectiveness.