Efficient class of optimized coning compensation algorithms

Various algorithms are examined for integrating the noncommutivity rate equation that is the basis for the coning correction applied in strapdown inertial reference systems, A concept for improving the computational accuracy and efficiency of strapdown coning correction algorithms is described and applied to the development of six new algorithms, each possessing optimal accuracy characteristics and leading to minimum computational throughput requirements. The accuracies of the six new algorithms are compared to those associated with four previously known algorithms in both pure coning and benign angular rate environments. It is shown that, for all algorithms, the error incurred in a benign environment is negligibly small, even for very severe maneuvers, and that algorithm optimization based strictly on a consideration of its accuracy characteristics in a pure coning environment is justified. An algorithm simplification concept employed that is similarly based solely on the properties of the algorithm in a pure coning environment is also shown to be justified.