JPH0637286Y2 - Combined heading measuring device - Google Patents

Combined heading measuring device

Info

Publication number
JPH0637286Y2
JPH0637286Y2 JP1990122249U JP12224990U JPH0637286Y2 JP H0637286 Y2 JPH0637286 Y2 JP H0637286Y2 JP 1990122249 U JP1990122249 U JP 1990122249U JP 12224990 U JP12224990 U JP 12224990U JP H0637286 Y2 JPH0637286 Y2 JP H0637286Y2
Authority
JP
Japan
Prior art keywords
heading
measuring device
gps
theta
compass
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
JP1990122249U
Other languages
Japanese (ja)
Other versions
JPH0376112U (en
Inventor
兆五 関根
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Japan Radio Co Ltd
Original Assignee
Japan Radio Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Japan Radio Co Ltd filed Critical Japan Radio Co Ltd
Priority to JP1990122249U priority Critical patent/JPH0637286Y2/en
Publication of JPH0376112U publication Critical patent/JPH0376112U/ja
Application granted granted Critical
Publication of JPH0637286Y2 publication Critical patent/JPH0637286Y2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Description

【考案の詳細な説明】 本考案はNAVSTAR/GPSシンテムの電波を利用して、船舶
の船首方位あるいは航空機の機首方位を求めるGPS船首
方位測定装置と、マグネットコンパスとを複合した船首
方位測定装置に関する。
[Detailed Description of the Invention] The present invention uses a radio wave of NAVSTAR / GPS system to detect the heading of a ship or the heading of an aircraft, and a heading measuring device that combines a GPS compass and a magnet compass. Regarding

GPS船首方位測定装置は、船首方位測定にGPS電波を利用
していたので、妨害電波の混信や障害物による電波の遮
断などのため、船首方位の測定値が、船首方位を固定し
ている場合でも第1図(b)に示す如く、真の方位
(a)のまわりに微小に変動したり、時には大幅に変動
するなどの不都合がある。しかし、船首方位を1回転さ
せたときの指示値については、第2図(d)に示す如
く、極めて正確な指示値を示す性質がある。但し、上記
の微小な変動は平均化により小さくすることができる。
一方、マグネットコンパスでは、船首方位を固定した場
合には、第1図(c)に示す如く、真の船首方位(a)
に対して、地球上の各地域特有の数度から数十度の大き
な誤差を有する(これを偏差という)不都合があるが、
指示値は極めて安定している。しかし、船首方位を1回
転させたときの指示値については、第2図(e)に示す
如く、地球上の各地域特有の誤差を含んだ指示値(f)
のまわりに、ほぼ2周期の変動の指示値を示す(これを
自差という)不都合がある。また、変針等によって船首
方位が変った時、GPS船首方位測定装置の指示は平均化
のために追従が遅いが、マグネットコンパスの指示は追
従が速い。
The GPS heading measurement device uses GPS radio waves to measure the heading.Therefore, when the heading measurement value is fixed, the heading measurement is fixed due to interference of radio interference or interruption of radio waves due to obstacles. However, as shown in FIG. 1 (b), there are inconveniences such as a slight fluctuation around the true azimuth (a), and sometimes a large fluctuation. However, as shown in FIG. 2 (d), the indicated value when the heading of the ship is rotated once has the property of showing an extremely accurate indicated value. However, the minute fluctuations described above can be reduced by averaging.
On the other hand, in the case of the magnet compass, when the heading is fixed, as shown in FIG. 1 (c), the true heading (a)
On the other hand, there is the inconvenience of having a large error of several degrees to several tens of degrees (this is called deviation) peculiar to each region on the earth,
The indicated value is extremely stable. However, as shown in Fig. 2 (e), the indicated value when the heading is rotated once is indicated by the indicated value (f) including an error peculiar to each region on the earth.
There is an inconvenience that the indicated value of the fluctuation of about 2 cycles is shown around this (this is called the error). In addition, when the heading changes due to a needle change or the like, the GPS heading measuring device has a slow follow-up due to averaging, but the magnet compass has a fast follow-up.

本考案は、GPS船首方位測定装置とマグネットコンパス
の測定誤差の性質が、丁度相補的である性質を利用し
て、両者を組合せることにより、信頼度の高い船首方位
の測定値を得ようとするもので、以下図面により詳細に
説明する。
The present invention aims to obtain a highly reliable measurement value of the heading by combining the GPS heading measuring device and the magnet compass with the characteristics of the measurement errors which are just complementary. However, it will be described in detail below with reference to the drawings.

第3図は本考案の一実施例で、1はマグネットコンパ
ス、2はマグネットコンパス1の指示値を電気信号に変
換する変換器、3はGPS電波を利用し船首方位を求めるG
PS船首方位測定装置、4は補正演算器である。この補正
演算器4は変換器2から伝えられるマグネットコンパス
1で測定した船首方位θMと、GPS船首方位測定装置3か
ら伝えられる船首方位θGとを受けて、真の船首方位を
算出するための補正演算を行なう。
FIG. 3 shows an embodiment of the present invention, 1 is a magnet compass, 2 is a converter for converting the indicated value of the magnet compass 1 into an electric signal, and 3 is a GPS heading for determining the heading G
PS bow direction measuring device, 4 is a correction calculator. This correction calculator 4 receives the heading θ M measured by the magnet compass 1 transmitted from the converter 2 and the heading θ G transmitted from the GPS heading measuring device 3 to calculate the true heading. Correction calculation of.

いま、前回のGPS船首方位測定装置3が安定に動作した
ときに測定したθMとθGの値から、θM−θGを求める。
また、今回測定したθMとθGの値から、同様にθM−θG
を求める。前回のθM−θGと今回のθM−θGの間に、設
定したしきい値以上の差があれば、そのときのGPS船首
方位測定装置3の測定に異常があったとして、今回測定
のθGを採用しないことにより、GPS電波の異常による異
常測定値を取除く。次いで、予め異常データを取除いた
θGの多数回の測定値と、同時刻に測定したθMの測定値
より、各時点でのθMとθGの組を求める。
Now, θ M −θ G is obtained from the values of θ M and θ G measured when the previous GPS heading measuring device 3 was operating stably.
Also, from the values of θ M and θ G measured this time, similarly, θ M −θ G
Ask for. If the difference between the previous θ M −θ G and the current θ M −θ G is more than the set threshold value, it is considered that there is an abnormality in the measurement of the GPS bow direction measuring device 3 at that time, and this time. By not adopting θ G for measurement, remove abnormal measurement values due to GPS radio wave abnormality. Next, a set of θ M and θ G at each time point is obtained from a large number of measured values of θ G from which abnormal data is removed in advance and a measured value of θ M measured at the same time.

一方、θMの真の船首方位θに対する誤差モデルε
(θ)を、近似的にε(θ)=ΣN i=0AiSin(iθ+
φ)とし、 前記θMとθGの複数の組である測定値を用いて、最小自
乗法等の手段により係数Aiを求め、マグネットコンパス
の誤差モデルε(θ)を求める。この演算は変針、ヨー
イング等に伴い繰返し実施し、常に最新の誤差モデルε
(θ)を求め、この誤差モデルにより求めた補正値ε
(θG)を今回測定したθMに加算して、真の船首方位と
する。
On the other hand, the error model ε for the true heading θ of θ M
(Θ) is approximately ε (θ) = Σ N i = 0 AiSin (iθ +
φ), the coefficient Ai is obtained by means such as the least square method using the measured values of the plurality of sets of θ M and θ G , and the error model ε (θ) of the magnet compass is obtained. This calculation is repeatedly performed due to needle changes, yawing, etc., and always uses the latest error model ε.
(Θ), and the correction value ε obtained by this error model
Add (θ G ) to θ M measured this time to obtain the true heading.

以上説明したように、本考案によれば、全く人手を必要
とせずに、船の移動した位置や船内磁気分布の変動に影
響されることなく、常に自動的に正確な船首方位指示が
でき、船への据付時にも、自差修正のための自差測定を
必要とせず、マグネットコンパス単独、またはGPS船首
方位測定装置単独で使われる、いずれの場合よりも、高
精度の船首方位指示ができ、船舶や航空機での利用に際
して、安全かつ精度の高い自動航行を行なわせることが
できる利点がある。
As described above, according to the present invention, it is possible to always automatically and accurately indicate the heading direction without requiring any manpower, without being affected by the movement position of the ship and the fluctuation of the magnetic distribution inside the ship. Even when installed on a ship, there is no need to measure the deviation for correcting the deviation, and it is possible to give a more accurate heading indication than in the case of using a magnetic compass alone or a GPS heading measuring device alone. In addition, there is an advantage that it is possible to perform safe and highly accurate automatic navigation when using it on a ship or an aircraft.

【図面の簡単な説明】[Brief description of drawings]

第1図及び第2図は従来装置を説明するための説明図、
第3図は本考案の一実施例を示すブロック図である。 1…マグネットコンパス 2…変換器 3…GPS船首方位測定装置 4…補正演算器
1 and 2 are explanatory views for explaining a conventional device,
FIG. 3 is a block diagram showing an embodiment of the present invention. 1 ... Magnet compass 2 ... Converter 3 ... GPS heading measuring device 4 ... Correction calculator

Claims (1)

【実用新案登録請求の範囲】[Scope of utility model registration request] 【請求項1】GPS船首方位測定装置と、マグネットコン
パスと、該マグネットコンパスの指示方位を電気信号に
変換する変換器とを備え、前記GPS船首方位測定装置が
測定した船首方位θG及び前記変換器から伝えられるマ
グネットコンパスが測定した船首方位θMから、随時測
定値差θM−θGを求める手段と、GPSが安定に動作した
時の測定値差と今回の測定値差の間に、設定したしきい
値以上の違いが出た時今回のθGを異常と見做してこの
異常なθGを取除く手段と、異常なθGが取除かれたθG
とθMの複数の組から誤差モデルの係数を求める手段
と、該係数を用いてθMの真の船首方位θに対する誤差
モデルε(θ)を求める手段と、該誤差モデルを用いて
θMを補正して真の船首方位を算出する手段とを有する
補正演算器を備えたことを特徴とする複合船首方位測定
装置。
1. A GPS heading measuring device, a magnet compass, and a converter for converting a pointing direction of the magnet compass into an electric signal, and the heading θ G measured by the GPS heading measuring device and the conversion. From the heading θ M measured by the magnet compass transmitted from the vessel, the means for obtaining the measured value difference θ M −θ G at any time, and between the measured value difference when the GPS is operating stably and the measured value difference this time, and means to remove this unusual θ G in the time of θ G abnormally and considered when setting the threshold or more of difference that came out, abnormal θ G has been removed θ G
Theta M using the means for obtaining the coefficients of the error model from a plurality of sets of theta M, means for determining the error model epsilon (theta) to the true heading theta of theta M using the coefficient, the said error model And a compensating calculator having a means for compensating the above to calculate a true compass direction.
JP1990122249U 1990-11-21 1990-11-21 Combined heading measuring device Expired - Lifetime JPH0637286Y2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1990122249U JPH0637286Y2 (en) 1990-11-21 1990-11-21 Combined heading measuring device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1990122249U JPH0637286Y2 (en) 1990-11-21 1990-11-21 Combined heading measuring device

Publications (2)

Publication Number Publication Date
JPH0376112U JPH0376112U (en) 1991-07-30
JPH0637286Y2 true JPH0637286Y2 (en) 1994-09-28

Family

ID=31670258

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1990122249U Expired - Lifetime JPH0637286Y2 (en) 1990-11-21 1990-11-21 Combined heading measuring device

Country Status (1)

Country Link
JP (1) JPH0637286Y2 (en)

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57166513A (en) * 1981-04-08 1982-10-14 Nissan Motor Co Ltd Run guiding device for vehicle

Also Published As

Publication number Publication date
JPH0376112U (en) 1991-07-30

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