Limitations of residual error estimate for classic coning compensation algorithm

The deducing of the classic coning compensation algorithm coefficients and their residual error estimation formulas is based on the assumptions of the coning half-angle amplitude to be small and minimizing the non-periodic component of equivalent rotation vector error. Nevertheless, in the case of insufficient small for coning half-angle amplitude, low coning frequency and multi-samples algorithm, the classic residual error estimate formula may result serious errors. In this paper, a new coning residual error estimate formula, i.e. the limit of accuracy formula, is proposed even if the coning half-angle is not infinite small. Some simulation tests also verify that the periodic components of equivalent rotation vector affect coning compensation errors. The studies reveal that if the limit of accuracy formula operates in coning compensation algorithm, the approach of improving coning compensation accuracy is to shorten the equivalent rotation vector calculation period, but unlike the classic means - just by increasing the number of samples.