北极航道的船舶组合导航方法  

An Integrated Navigation Method for Ship in Arctic Channel

作　　者：吴建华[1,2] 江心博 王辰[3] 付鹏 杜威[1,2] 聂根政 WU Jianhua;JIANG Xinbo;WANG Chen;FU Peng;DU Wei;NIE Genzheng(School of Navigation,Wuhan University of Technology,Wuhan 430063,China;Hubei Key Laboratory of Inland Shipping Technology,Wuhan University of Technology,Wuhan 430063,China;Transport Planning and Research Institute,Ministry of Transport,Beijing 100028,China)

机构地区：[1]武汉理工大学航运学院,武汉430063 [2]武汉理工大学内河航运技术湖北省重点实验室,武汉430063 [3]交通运输部规划研究院,北京100020

出　　处：《交通信息与安全》2020年第3期84-91,共8页Journal of Transport Information and Safety

基　　金：国家重点研发计划项目(2016YFC1402706)资助。

摘　　要：为解决新开辟的具有重要经济价值及战略意义的北极航道船舶航行安全保障问题,建立适用于北极航道的船位推算导航模型。在获取精确的初始船位前提下,利用航向、航速连续推算船舶船位,同时利用卡尔曼滤波修正累积推算误差,以获取高精度、高可靠性的推算船位。针对高纬度下的陀螺罗经航向误差较大的问题,采用卫星罗经或光纤罗经替代陀螺罗经;而对卫星定位信号异常而无法获取船位的问题,提出了自动雷达定位技术。在GPS正常时,选择GPS卫星罗经+GPS滤波的组合导航方案;在GPS异常时,选择光纤罗经+自动雷达定位滤波的组合导航方案,可为船舶在北极航道航行提供连续、准确、可靠的导航定位保障。研究结果表明,前者得到的推算船位与GPS实测船位的误差很小,均差在4.5 m左右;后者可为船舶提供2 h推算误差在50 m以内较高精度的船位。In order to solve the problem of navigation safety in the Arctic channel which has important economic value and strategic significance,a dead reckoning navigation model suitable for the Arctic channel is developed.Under the premise of obtaining accurate initial ship position,the ship position can be calculated continuously by using heading and speed parameters,and the accumulated calculation error can be corrected by using Kalman filter,so as to obtain high-precision and high reliability calculated ship position.In a view of the large error of gyrocompass heading in high latitude,satellite gyrocompass or fiber optic gyrocompass is used instead of gyrocompass.For the problem that satellite positioning signal is abnormal and the ship position cannot be obtained,automatic radar positioning technology is used.When GPS is normal,this integrated navigation scheme selects GPS satellite compass and GPS filtering to navigate;when GPS is abnormal,this integrated navigation scheme selects fiber optic gyrocompass and automatic radar positioning filtering to navigate,which can provide continuous,accurate,reliable navigation and positioning guarantee for ships navigating in the Arctic channel.The results show that the error between the calculated ship position obtained by the former and the measured ship position by GPS is very small,and the average error is about4.5 m;the latter can provide the ship position with high accuracy within 50m in 2h.

关 键 词：交通安全 北极航道 组合导航 航迹推算 卫星定位 雷达定位 

分 类 号：U675.6[交通运输工程—船舶及航道工程]