船舶极地航行导航误差校正法分析-《集美大学学报（自然科学版）》

文章信息/Info

作者:: 李成海1; 冯曰林1; 辛小辰1; 胡甚平2; 1.山东交通职业学院航海学院，山东潍坊 261206；2.上海海事大学商船学院，上海 201306

Author(s):: LI Chenghai1; FENG Yuelin1; XIN Xiaochen1; HU Shenping2; 1.School of Navigation,Shandong Transport Vocational College,Weifang 261206，China;2.Merchant Marine College,Shanghai Maritime University,Shanghai 201306,China

Keywords:: polar navigation; inertial navigation system; external force action; ship model drift angle; gyro drift; correction method

摘要:: 为了消除船舶极地航行时惯导系统因时长累积而成的导航误差，提出船舶模型坐标系下的双点校正法，用以预估和补偿陀螺值漂移量。此方法根据F方程式和σ方程式，构建船舶漂移角σ、格网航行方向误差和船位偏差三者关系，以及船舶漂移角和陀螺值漂移量间关系；推出双点校正法的校正措施，通过风浪流观测误差和船舶模型坐标系陀螺值漂移量关系预估和补偿陀螺值漂移量。在外力作用下，系统取得两次船首向和船位数据后，预估陀螺值漂移量，对陀螺值漂移进行补偿，并对惯导格网航向方向误差和船位偏差进行重调，从而实现系统校正。从仿真验证看出，双点校正法可精准预估船舶模型坐标系下陀螺值漂移量，且系统通过实时重调和补偿，最大限度减少了因时长累积而形成的导航误差，提升了船舶极地航行导航能力。

Abstract:: In order to eliminate the navigation error in the inertial navigation system accumulated over time during a ship’s polar navigation,the gyroscope drift is estimated and compensated by the correction method in the ship model coordinate system.In this method,according to F equation and σ equation,the relationship among ship drift angle σ,grid sailing direction error and ship position deviation,and the relationship between ship drift angle and gyro value drift are constructed,and the correction measures are deduced using two-point correction method.Through the relationship between the wind,wave and current observation error and the gyro drift in the ship model coordinate system,the gyro drift is predicted and compensated.Under the action of external force,the system estimates the gyro drift after obtaining the heading and position data twice,thus compensating the gyro drift and readjusting the heading error and position deviation of the inertial navigation grid to realize the system correction.From the simulation verification,it can be seen that the two-point correction method can accurately predict the gyro drift in the ship model coordinate system with timely system rescheduling and compensation,which minimizes the navigation error caused by time accumulation and improves the ship’s polar navigation ability.