A Generalized Coning Correction Structure for Attitude Algorithms

<table>Normalized algorithm error <svg height="13.2498pt" id="M425" style="vertical-align:-3.571899pt" version="1.1" viewbox="-0.0498162 -9.6779 29.4017 13.2498" width="29.4017pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,6.582,-.231)"><path d="M-161 571C-161 600 -183 623 -212 623C-238 623 -262 600 -262 571C-262 544 -238 520 -212 520C-183 520 -161 544 -161 571Z" id="g117-11"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="0" vert-adv-y="0"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M391 364C391 409 353 448 295 448C249 448 198 426 152 393C65 331 23 225 23 139C23 14 96 -12 146 -12C198 -12 280 9 367 101L351 124C300 78 242 48 194 48C129 48 109 107 109 162V191C208 213 391 266 391 364ZM313 350C313 305 268 261 113 223C132 334 187 381 217 398C227 404 244 405 261 405C290 405 313 385 313 350Z" id="g113-102"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="414" 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horiz-adv-x="346" vert-adv-y="346"></glyph.data></g></svg> (Hz).</table>

Mathematical Problems in Engineering

A Generalized Coning Correction Structure for Attitude Algorithms

Figure 3