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中文摘要：
针对捷联惯导系统中利用角速率拟合角增量进行圆锥误差补偿精度下降和实时性变差的问题，提出了一种直接利用陀螺的角速率输出进行圆锥误差补偿的算法，利用角速率的叉乘项来拟合圆锥误差补偿项，并推导了四子样圆锥误差补偿算法的具体表达形式，并从本质上阐述了圆锥误差的存在机理。在典型圆锥运动条件下通过对所提算法的仿真并和理论解析解的做差比较，验证了所提算法的可行性和有效性。
英文摘要：
For a strap-down inertial navigation system, the coning error compensation accuracy will be decreased and its real time capability will be worse, when using the angular velocity according to the traditional method. In order to solve this problem, a new algorithm was proposed by using the angular velocity directly without obtaining the angular increment from the angular velocity through Simpson formula or trapezoid formula. Moreover, the four- sample rotation vector algorithm was derived, and the mechanism of the coning error was given. At last, the simulation results of the proposed algorithm and the theoretical one were compared.
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