Coning Error Concept
The 1850s was an important period for the rapid development of mechanical gyroscopes, and it was at that time that the famous conical motion phenomenon was discovered, that is, when the gyroscope has angular vibrations of the same frequency and different phases on its rotation axis and output axis, Although the net pointing of its measurement input axis remains unchanged (as a whole, there is no trend term that changes with time), the gyroscope is still sensitive to and outputs a constant angular rate signal on the input axis, and the error caused by the conical motion called coning error.
compensation formula
Corresponding source code
/* Coning compensation function -------------------------------------------------
* Coning compensation function
* args : double *imu I matrix imu (2 x 6)
* return : phim O rotation vector after coning compensation
*-----------------------------------------------------------------------------*/
extern double* coningcom(double