A new expression for sculling motion compensation algorithms

The error compensation is the important part of high-accuracy strapdown inertial navigation system (SINS). The incremental angular and velocity were adopted in classical compensation algorithms as inputs. The new formula bought forward utilized the angular rate and acceleration signals additionally. Based on this, the error characteristic of this algorithm under the condition of sculling motion was analyzed. The simulations of new algorithm were achieved. Compared with the classical algorithms, the new one has higher precision and stabilization.