Shipborne heading determination and error compensation based on a dynamic baseline | GPS Solutions Skip to main content
Springer Nature Link
Log in

Shipborne heading determination and error compensation based on a dynamic baseline

  • Original Article
  • Published:
GPS Solutions Aims and scope Submit manuscript

Abstract

Lengthening the baseline between antennas and compensating for heading error caused by vessel motion are two challenges encountered in using global positioning system (GPS) information to estimate the heading of a sailing vessel. In this study, a heading determination system (HDS), which consists of two quadruple GPS antenna arrays, an inertial navigation system (INS), and a total station surveying apparatus (TSSA), was developed to build a dynamic long baseline between two vessels. A heading determination algorithm is then presented based on the HDS. A heading error model, which considers TSSA time delay, is also designed to compensate for heading error and improve heading accuracy. The proposed algorithm has been examined by conducting mooring and sea tests. Test results are compared with the high-accuracy heading reference provided by the same INS. The standard deviations (std) of the heading error in the mooring and sea tests are ±6″ and ±17″, respectively. After parameter identification and error compensation using the heading error model, the heading error in the sea test is reduced to ±8″ from ±17″, thus proving the effectiveness of the proposed error compensation method. The experimental results demonstrate the capability of the HDS for high-performance shipborne heading determination.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
¥17,985 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price includes VAT (Japan)

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  • Barbour N (2001) Inertial components—past, present and future. In: Proceedings of AIAA GN&C conference, Montreal, QC, Canada, Aug 1–11

  • Britting KR (1971) Inertial navigation system analysis. Wiley, New York, pp 109–152

    Google Scholar 

  • Cannon ME, Sun H (1996) Experimental assessment of a non-dedicated GPS receiver system for airborne attitude determination. ISPRS J Photogramm Remote Sens 51(2):99–108

    Article  Google Scholar 

  • Giorgi G, Teunissen PJG, Gourlay TP (2012) Instantaneous global navigation satellite system (GNSS)-based attitude determination for maritime applications. IEEE J Ocean Eng 37(3):348–362

    Article  Google Scholar 

  • Griffith G, King BA, Cooper EB (1994) Precise measurements of ship’s attitude using satellite navigation. In: Sixth international conference on electronic engineering in oceanography. Cambridge, UK, 21 July, pp 6–10

  • Han JY, Guo J, Liu RY (2013) Alternative algorithm for determining the attitude parameters of a moving platform using multi-antenna GNSS sensors. J Surv Eng 139(4):194–201

    Article  Google Scholar 

  • Johnson G, Waid J, Primm M, Aggerwal R (2012) Ship attitude accuracy trade study for aircraft approach and landing operations. In: IEEE/ION Position location and navigation symposium (PLANS), Myrtle Beach, SC, Apr 23–26, pp 783–790

  • Lau L, Cross P, Steen M (2012) Flight tests of error-bounded heading and pitch determination with two GPS receivers. IEEE Trans Aerosp Electron Syst 48(1):388–404

    Article  Google Scholar 

  • Leick A (2004) GPS satellite surveying, 3rd edn. Wiley, New York, p 42

    Google Scholar 

  • Li Y, Efatmaneshnik M, Dempster AG (2012) Attitude determination by integration of MEMS inertial sensors and GPS for autonomous agriculture applications. GPS Solut 16(1):41–52

    Article  Google Scholar 

  • Mongrédien C, Schleppe JB, Lachapelle G et al (2008) Efficient dual-frequency ambiguity resolution algorithm for GPS-based attitude determination. J Surv Eng 134(3):67–75

    Article  Google Scholar 

  • Nash RA, Levine SA, Roy KJ (1971) Error analysis of space-stable inertial navigation systems. IEEE Trans Aerosp Electron Syst 7(4):617–629

    Article  Google Scholar 

  • Reis J, Sanguino J, Rodrigues A (2012) Baseline influence on single-frequency GPS precise heading estimation. Wirel Pers Commun 64(1):185–196

    Article  Google Scholar 

  • Trimble (2007) Trimble S8 total station. Datasheet. Trimble, Dayton, pp 1–4

  • Weston JL, Titterton DH (2000) Modern inertial navigation technology and its application. Electron Commun Eng J 12(2):49–64

    Article  Google Scholar 

Download references

Acknowledgments

The authors would like to thank the anonymous reviewers and editors for their patient work and constant encouragement. We would also like to thank Rong Zhang, Yonggui Dong, Wenke Xiao, and Zongyuan Yang for their useful comments and cordial help.

Author information

Authors and Affiliations

  1. Department of Precision Instrument, Tsinghua University, Beijing, 100084, China

    Peida Hu, Zhongyu Gao & Fengtian Han

  2. The Second Ship Research and Design Institute, Wuhan, 430064, China

    Yajun She & Long Cai

Authors
  1. Peida Hu
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Zhongyu Gao
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Yajun She
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Long Cai
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Fengtian Han
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Peida Hu.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Hu, P., Gao, Z., She, Y. et al. Shipborne heading determination and error compensation based on a dynamic baseline. GPS Solut 19, 403–410 (2015). https://doi.org/10.1007/s10291-014-0399-z

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10291-014-0399-z

Keywords

Search

Navigation