Runge-Kutta Approximations for Direct Coning Compensation Applying Lie Theory
Robotics
2026-03-06 v2
Abstract
The integration of gyroscope measurements is an essential task for most navigation systems. Modern vehicles typically use strapdown systems, such that gyro integration requires coning compensation to account for the sensor's rotation during the integration. Many coning compensation algorithms have been developed and a few are reviewed. This work introduces a new class of coning correction algorithm built directly from the classical Runge-Kutta integration routines. A simple case is shown to collapse to one of the most popular coning algorithms and a clear procedure for generating higher-order algorithms is presented.
Cite
@article{arxiv.2511.00412,
title = {Runge-Kutta Approximations for Direct Coning Compensation Applying Lie Theory},
author = {John A. Christian and Michael R. Walker and Wyatt Bridgman and Michael J. Sparapany},
journal= {arXiv preprint arXiv:2511.00412},
year = {2026}
}
Comments
Accepted manuscript. AIAA JGCD