Short-term inertial navigation assisted error compensation method for dynamic gyrocompass attitude angles

doi:10.13474/j.cnki.11-2246.2025.0714

Abstract

Abstract: The heading and attitude measurement of the strapdown gyrocompass will be greatly affected by the dynamic motion of the carrier,resulting in significant errors.Based on the analysis of the transmission mechanism of carrier motion acceleration error,a dynamic compensation method for attitude measurement error of gyrocompass is proposed using the idea of inertial navigation without divergence in a short period of time.When the carrier is in dynamic motion,a short-term inertial navigation algorithm with periodic reset is used to continuously calculate the motion acceleration in the navigation system,compensate for the disturbed accelerometer data in the compass loop,and thereby reduce dynamic measurement errors.The experimental results show that the root mean square error (RMSE) of the heading angle after dynamic compensation is 0.792°,and the pitch angle and roll angle are less than 0.030°,effectively improving the dynamic attitude measurement performance of the gyrocompass system.

Key words: strapdown gyrocompass, inertial navigation, dynamic maneuver, motion alignment, error compensation

CLC Number:

P228

YANG Xu, HUANG Xiaojuan, ZHANG Yanshun, LIU Zhaoyang. Short-term inertial navigation assisted error compensation method for dynamic gyrocompass attitude angles[J]. Bulletin of Surveying and Mapping, 2025, 0(7): 85-89,109.

References

[1] 卞鸿巍,马恒,王荣颖,等.国内船用光纤陀螺罗经最新技术发展[J].海军工程大学学报,2021,33(3):1-7.
[2] ASIF G A,ARIFFIN N H,AZIZ N A,et al.True north measurement: a comprehensive review of Carouseling and Maytagging methods of gyrocompassing[J].Measurement,2024,226:114121.
[3] 刘心雨.光纤捷联罗经系统初始对准技术研究[D].南京:东南大学,2017.
[4] 胡耀金,卞鸿巍,王荣颖,等.基于高斯混合模型的光纤罗经误差概率分布建模[J].系统工程与电子技术,2021,43(6):1644-1650.
[5] 刘义亭,徐晓苏,张涛,等.基于外参考速度辅助的行进间罗经法对准[J].中国惯性技术学报,2015,23(2):165-171.
[6] FUKUDA G,HATTA D,GUO Xiaoliang,et al.Performance evaluation of IMU and DVL integration in marine navigation[J].Sensors,2021,21(4):1056.
[7] 赵英伟,吴宥霖,谢梓菡,等.顾及洋流速度的激光罗经对准方法研究[J].仪器仪表学报,2023,44(7):152-160.
[8] 卫炎.电控罗经机动误差的实时补偿法[J].交通部上海船舶运输科学研究所学报,1988,11(1):52-57.
[9] 张强.捷联惯导系统高度阻尼与罗经对准技术研究[D].哈尔滨:哈尔滨工程大学,2018.
[10] 魏奥博,郑荣.SVR辅助SINS-DVL的水下机器人组合导航方法[J].舰船科学技术,2020,42(1):161-167.
[11] 徐定杰,宋鸿儒,张义.基于双系统思想的船用捷联罗经系统算法[J].华中科技大学学报(自然科学版),2013,41(1):85-88.
[12] 周小红,晁代宏,宋来亮.基于双通道的光纤陀螺捷联罗经系统软件设计[J].导航与控制,2014,13(3):1-8.
[13] 杨旭,汪湛清,高晨,等.捷联罗经方位大失准角下的快速对准方法[J].船舶工程,2018,40(5):83-87.
[14] AMIRI ATASHGAH M A,MOHAMMADKARIMI H,EBRAHIMI M.A fast strapdown gyrocompassing algorithm based on INS differential errors[J].Scientific Reports,2023,13:15297.
[15] 于飞飞,王振桓,曾庆双,等.基于正逆向导航解算的捷联罗经动基座对准研究[J].导航定位与授时,2020,7(3):38-45.
[16] JASKÓLSKI K,CZAPLINSKI W,TOMCZAK A.Spectral analysis of compass errors based on fast Fourier transform and reduction absolute errors using a pass-band finite impulse response filter[J].Polish Maritime Research,2024,31(2):109-120.
[17] 赵江鹏.基于平台罗经的短期惯导技术研究[D].哈尔滨:哈尔滨工程大学,2005.
[18] 王迪,王冰,黄浩乾,等.复杂水下环境中自适应粒子群优化的SINS/DVL组合导航方法[J].中国惯性技术学报,2023,31(10):1023-1029.
[19] 刘贤俊,叶鹏,张同伟,等.基于DR/USBL的HOV组合导航算法[J].水下无人系统学报,2022,30(4):494-499.
[20] 廉璞,牟东,叶海福,等.基于航向误差的捷联陀螺罗经标定方法[J].电光与控制,2020,27(2):75.
[21] 严恭敏.PINS-导航数据[EB/OL].[2021-05-24].https://psins.org.cn/dhsj.