A New Coning, Sculling, and Scrolling Error Compensation Approach for Strapdown Inertial Navigation System

The autonomous feature of aerospace vehicles, as manifested in the fusion condition of using external auxiliary sensors, depends significantly on the quality of the Strapdown Inertial Navigation System (SINS). In this condition, SINS needs to solve the problem of error allocation in the system design to ensure the achievement of the specified target within allowable error budgets. With the SINS, besides the errors generated by the sensors and the initialization, another crucial element is the computing error in the integration process when solving navigation differential equations of the system. In the low-cost SINS using the basic calculation method, this error increases rapidly due to motions called coning, sculling, and scrolling. In this paper, a comprehensive overview and analysis of contemporary methodologies are provided. In addition, an approach designed to address errors arising from coning, sculling, and scrolling motions is proposed, and extensive numerical simulations are performed to validate the suggested algorithm.