Runge-Kutta Approximations for Direct Coning Compensation Applying Lie Theory

TL;DR

This paper introduces a novel class of coning compensation algorithms for gyroscope integration in navigation systems, based on Runge-Kutta methods, enabling higher-order corrections and unifying existing approaches.

Contribution

It presents a new framework for coning correction algorithms derived from Runge-Kutta routines, allowing systematic generation of higher-order solutions.

Findings

The proposed algorithms include well-known methods as special cases.

A clear procedure for creating higher-order coning corrections.

The approach unifies existing algorithms within a common framework.

Abstract

The integration of gyroscope measurements is an essential task for most navigation systems. Modern vehicles typically use strapdown systems, such that gyro integration requires coning compensation to account for the sensor's rotation during the integration. Many coning compensation algorithms have been developed and a few are reviewed. This work introduces a new class of coning correction algorithm built directly from the classical Runge-Kutta integration routines. A simple case is shown to collapse to one of the most popular coning algorithms and a clear procedure for generating higher-order algorithms is presented.