Abstract: The cause that how the coning motion of missile strapdown inertial navigation system(SINS) in vibrating condition occurs was analyzed, and the classical coning compensation algorithm was studied. The limitation of classical compensation algorithm drifting error was also estimated. In the view the limitations of classical compensation algorithm and the characteristics of the vibrating environment of missiles and other weapons, the standard compensation algorithm were optimized. It was proposed that in vibrating condition, under the condition of not effecting the navigation computer's normal work, it is necessary to consider the pre-sample in the coning motion compensation. Simulation and experiment results show that the coning motion compensation should take the standard compensation algorithm in vibrating condition.