Analysis of coning motion caused by turntable's vibration in rotation inertial navigation system

Turntable is an important part of rotation inertial navigation system (RINS). Due to machining accuracy, there exists certain angle error between vertical axis of the turntable and table rotation axis, which leads to table's vibration and further the loss of RINS's accuracy. Firstly, the error of turntable's vibration is modeled. And the analysis results show that inertial measurement unit (IMU) does coning error because of turntable's vibration. Then, the conning error caused by coning motion is analyzed, and the effect of multi-sample compensation algorithm based on the equivalent rotation vector is discussed. At the same time, the effect of rotation manner to RINS's coning error is discussed, and the result shows that back and forth rotation has a good compensation effect to the error. Finally, the above theoretical analyses are verified through simulation.