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北极东北航道商船陀螺罗经航向误差修正算法

吴建华 杜威 王辰 付鹏 聂根政 江心博

吴建华, 杜威, 王辰, 付鹏, 聂根政, 江心博. 北极东北航道商船陀螺罗经航向误差修正算法[J]. 交通信息与安全, 2021, 39(6): 73-81. doi: 10.3963/j.jssn.1674-4861.2021.06.009
引用本文: 吴建华, 杜威, 王辰, 付鹏, 聂根政, 江心博. 北极东北航道商船陀螺罗经航向误差修正算法[J]. 交通信息与安全, 2021, 39(6): 73-81. doi: 10.3963/j.jssn.1674-4861.2021.06.009
WU Jianhua, DU Wei, WANG Chen, FU Peng, NIE Genzheng, JIANG Xinbo. A Correction Algorithm for Course Errors from the Gyrocompass Along the Northeast Channel of the Arctic[J]. Journal of Transport Information and Safety, 2021, 39(6): 73-81. doi: 10.3963/j.jssn.1674-4861.2021.06.009
Citation: WU Jianhua, DU Wei, WANG Chen, FU Peng, NIE Genzheng, JIANG Xinbo. A Correction Algorithm for Course Errors from the Gyrocompass Along the Northeast Channel of the Arctic[J]. Journal of Transport Information and Safety, 2021, 39(6): 73-81. doi: 10.3963/j.jssn.1674-4861.2021.06.009

北极东北航道商船陀螺罗经航向误差修正算法

doi: 10.3963/j.jssn.1674-4861.2021.06.009
基金项目: 

国家重点研发计划课题项目 2016YFC1402706

详细信息
    通讯作者:

    吴建华(1963—), 博士, 教授.研究方向: 交通信息工程及控制.E-mail: wujh63@sina.com

  • 中图分类号: U666.1

A Correction Algorithm for Course Errors from the Gyrocompass Along the Northeast Channel of the Arctic

  • 摘要: 针对商船上常用的指向仪器设备陀螺罗经在北极东北航道航行时由于高纬度带来的指向力矩变小而导致指向精度下降问题, 基于北极东北航道罗经历史数据, 考虑纬度和航向对航向误差的影响, 利用最小二乘法对GPS卫星罗经与陀螺罗经的航向误差进行多项式拟合, 建立并比对3种拟合模型, 遴选出均方误差最小的陀螺罗经航向修正模型; 当GPS信号异常时, 利用该模型对陀螺罗经航向误差进行一次修正; 修正后陀螺罗经航向精度保持在±2.0°内, 精度在±1°以内的修正率达88.4%;当GPS信号正常时, 在一次修正的基础上利用卡尔曼滤波进行二次修正, 修正后的陀螺罗经航向精度在±1.0°以内的修正率为98.9%, 精度在±0.5°以内的修正率达88.9%。

     

  • 图  1  主、从天线基线在站心坐标系中的几何关系

    Figure  1.  Master and slave antenna baseline geometric elationships in the topocentric-coordinate system

    图  2  GPS卫星罗经解算航向及精度误差

    Figure  2.  Calculated GPS-satellite compass heading and accuracy error

    图  3  北极东北航道陀螺罗经航向一次修正

    Figure  3.  Firstly correction of gyrocompass in the Northeast Passage of the Arctic

    图  4  纬度增加时误差拟合曲线

    Figure  4.  Fitting curves of the errors with the increased latitude

    图  5  纬度减小时误差拟合曲线

    Figure  5.  Fitting curves of the errors with the reduced latitude

    图  6  陀螺罗经纬度拟合模型残差

    Figure  6.  Residual error of the latitude fitting model of the gyrocompass

    图  7  基于航向拟合曲线图

    Figure  7.  Fitting curves based on heading

    图  8  陀螺罗经航向拟合模型残差图

    Figure  8.  Residual error of the heading fitting model of the gyrocompass

    图  9  纬度与航向合成拟合曲面图

    Figure  9.  Synthetic fitting surface based on latitude and heading

    图  10  陀螺罗经纬度与航向合成拟合模型残差图

    Figure  10.  Residual error of the synthetic fitting model based on latitude and heading of the gyrocompass

    图  11  拟合模型应用精度比对图

    Figure  11.  Comparison of the fitting model's application accuracy

    图  12  基于卡尔曼滤波的陀螺罗经/GPS卫星罗经航向二次修正

    Figure  12.  Second correction of the heading of the gyrocompass/GPS satellite gyrocompass based on Kalman filter

    图  13  陀螺罗经航向误差修正对比图

    Figure  13.  Comparison of the heading error-correction of the gyrocompass

    表  1  拟合模型理论均方根误差统计表

    Table  1.   Theoretical root-mean-square error statistics of the fitted model

    拟合模型 均方根误差
    纬度拟合 0.778 772 601
    航向拟合 1.123 354 639
    纬度与航向合成拟合 0.752 336 071
    下载: 导出CSV

    表  2  拟合模型应用精度均方根误差

    Table  2.   Root-mean-square error of the applied accuracy of the fitted model

    拟合模型 均方根误差
    纬度拟合 0.821 127 270
    航向拟合 1.038 974 132
    纬度与航向合成拟合 0.703 027 018
    下载: 导出CSV
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出版历程
  • 收稿日期:  2021-08-06
  • 网络出版日期:  2022-01-12

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