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Mathematical Problems in Engineering
Volume 2014, Article ID 614378, 15 pages
Research Article

A Generalized Coning Correction Structure for Attitude Algorithms

1School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
2Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Nanjing 210096, China

Received 17 March 2014; Revised 9 August 2014; Accepted 10 August 2014; Published 25 September 2014

Academic Editor: W. Y. Szeto

Copyright © 2014 Chuanye Tang and Xiyuan Chen. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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.