Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Optimal strapdown coning compensation algorithm

최적 스트랩다운 원추 보상 알고리듬

  • Park, Chan-Gook (Dept.of Control Instrumentation Engineering, Kwangwoon University) ;
  • Kim, Kwang-Jin (Dept.of Control Instrumentation Engineering, Kwangwoon University) ;
  • Lee, Jang-Gyu (Automatic Control Research Center, Dept.of Electirc Engineering, Seoul National University)
  • 박찬국 (광운대학교 제어계측공학과/신기술연구소) ;
  • 김광진 (광운대학교 제어계측공학과/신기술연구소) ;
  • 이장규 (서울대학교 전기공학부 자동제어특화연구센터)
  • Published : 1996.09.01
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Abstract

In this paper, an optimal coning compensation algorithm for strapdown system is proposed by minimizing the coning error. The proposed algorithm is derived as a generalized form in that it contains the class of the existing coning algorithms and allows the design of optimal algorithm for various combinations of gyro samples. It is shown the magnitude of resulting algorithm errors depends mainly on the total number of gyro samples including present and previous gyro samples. Based on the results, the proposed algorithm enables the algorithm designers to develop the effective coning compensation algorithm according to their attitude computation specifications with ease. In addition, the multirate method which can efficiently implement the algorithm is presented.

Keywords

References

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