Coning compensation with pure filtered angular rate input is closer to the actual system.It has theoretical and practical values for improving attitude accuracy of SINS made up of angular rate gyros.

• 滤波角速率输入圆锥误差补偿算法更贴近工程，对提高角速率陀螺构建的捷联惯性系统精度具有重要理论和工程意义。