Extended coning algorithms for angular rate input

A class of extended angular rate-based coning algorithms is presented to advance coning correction performance. Through reconfiguring some structure parameters of the coning algorithm based on a structure containing cross-product of angular rates, cross-product of angular increments, and cross-product of angular rate and increment, the extended coning algorithm is obtained. Frequency Taylor-series method is used to optimize the extended algorithm coefficients. A type of error model used for executing the algorithm performance evaluation under coning environments for the extended algorithm and the previous angular rate-based algorithm is defined. Analysis and simulation indicate that the extended coning algorithm is high efficient in coning environments. Compared to the previous angular rate-based coning algorithm, the extended algorithm gives a superior coning performance given the same subsample number except the three-subsample.