The coning algorithm can compensate the error caused by the coning motion of strapdown inertial navigation system（ SINS） effectively. But it brings in the coning constant drift error and the coning truncation error.The exiting coning algorithms usually increase the precision by reducing the coning constant drift error

without considering the effect of the coning truncation error. Based on the Bortz’s rotation vector equation

the coning truncation error is compensated by a higher-order error compensation model. Simulating the high-order compensation algorithm and the traditional four-sample coning algorithm respectively

and comparing the error of each algorithm. The simulation results show that the precision of high-order compensation algorithm is superior to the traditional four-sample coning algorithm. Under the condition of high speed and large coning motion

the SINS attitude control precision can be improved about 2 orders of magnitude.