A four-sample coning compensation for the modern SINS attitude algorithm is simulated in the digital signal processor under the condition of swaying motion, and compared with a three-sample coning compensation, an three-sample equivalent rotation vector, and an sample Peano-Baker approach.

The angular veloclty modle is given at first,then the incremental attitude vector,the cross product of two incremental attitude vector,the equation of coning compensation coefficients and the error equation are derived.

Based on the practical applying,the quaternion picard iteration,the quaternion fourth order Ronge-Kutta method,coning compensation algorithm and an improved coning compensation algorithm are analyzed and compared in this paper.

The coning compensation algorithms can be designed using Goodman-Robinson finite rotations theory besides minimal error theory.

Limitations of error estimation for classic coning compensation algorithm;

By utilizing theory of elastic mechanics,this paper conducts circular compensator stress analysis.