Research on Coning Error Compensation Algorithm and Sculling Error Compensation Algorithm

Based on our research achievements in coning error compensation and sculling error compensation algorithms, we have summarized calculation formulas for functions related to strapdown inertial navigation update algorithms, with consideration for practical programming convenience in simulation development. These formulas enhance the completeness of update algorithms and can be used to improve existing strapdown inertial navigation systems or serve as foundations for new algorithm development. The implementation typically involves quaternion normalization and coordinate transformation functions to maintain numerical stability during attitude updates. We conducted comprehensive simulations of both coning error compensation and strapdown inertial navigation algorithms. The simulation results demonstrate perfect consistency with theoretical analysis conclusions, validating the correctness of our algorithmic approaches. The simulation architecture includes modular components for sensor data processing, error compensation modules, and navigation solution integration. To facilitate better understanding and implementation for fellow researchers, we have provided complete MATLAB m-file source codes in the appendix. These codes feature structured programming with clear function interfaces, including essential routines for: 1) Coning error compensation using multi-sample algorithms, 2) Sculling error compensation for velocity integration, and 3) Strapdown navigation solution updating with proper frame transformations. We believe this work will significantly contribute to advancing research and applications in strapdown inertial navigation technology.