Motion error compensation methods address calculation errors in angles, velocities, and positions in inertial positioning systems without a base

Abstract

The invention proposes a method for compensating for motion errors that cause errors in calculating angle, velocity, and position in a stationary inertial positioning system by using a computational technique that allows the elimination of trigonometric functions and small-error rounding functions, reducing computational load by eliminating the need to perform the double multiplication of directional vectors. The technical solution used to compensate for motion errors causing angular calculation errors is based on an approximation of the calculation error between methods, allowing for the selection of an appropriate calculation method and rounding order. The solution for compensating velocity and positional motion errors is achieved through the accuracy of compensating for motion errors that cause angular calculation errors.