Efficient class of optimized coning compensation algorithms

A Real-Time Structure of Attitude Algorithm for High Dynamic Bodies

“…The second term of (6) can not be eliminated thoroughly by optimization, and it is also regarded as coning error [10]. In general, the performance evaluation of algorithms including the uncompressed and compressed algorithms can be expressed as the drifting error under coning environment.…”

“…where Ž represents the coefficient that can be determined by the optimized algorithm under the classical coning environment [3,10]. Figure 1 shows coning motion of high dynamic bodies, represents coning axis, Ω represents the coning frequency, and represents the half coning angle.…”

“…In general, the performance evaluation of algorithms including the uncompressed and compressed algorithms can be expressed as the drifting error under coning environment. There are several different forms of multisubsample algorithms, but all of them can be summarized as [9,10] =̃− .…”

“…To verify the validity of real-time structure of attitude algorithm, the conventional structure in [10] is chosen to make simulations under different coning conditions in Matlab, and the subsample time is ℎ = 0.1 ms. The amount of subsamples is chosen = 1, 2, 3, 4 and 5, respectively, and the optimized coefficients are shown in Table 3.…”

“…It is found that the more the subsamples are chosen, the smaller the drifting rate of coning error is [6][7][8][9]. To further improve the accuracy of rotation vectors, compressed and half-compressed algorithms have been presented as well [10,11]. These algorithms calculate several angular increments at a higher frequency and then compress them as one value in a relative lower frequency.…”