Novel magnetic compass autodyne correction auxiliary device and method

Abstract

The invention relates to a novel magnetic compass autodyne correction auxiliary device and method. The novel magnetic compass autodyne correction auxiliary device comprises an electronic compass, a three-axis magnetic field intensity meter and a data terminal, the output ends of the electronic compass and the three-axis magnetic field intensity meter are connected with the data terminal, and the three-axis magnetic field intensity meter is used for quantitatively measuring environmental magnetic field distortion measurement data; the electronic compass is used for acquiring magnetic heading information; the output end of the data terminal is connected with the magnetic compass autodyne correction device, and is used for receiving information from the electronic compass and the three-axis magnetic field intensity meter, calculating compass north pointing force and autodyne force through magnetic compass autodyne correction software according to a magnetic compass autodyne correction equation, calculating the correction amount of the magnetic compass autodyne correction device, and outputting the correction amount of the magnetic compass autodyne correction device. And outputting an autodyne correction result through the magnetic compass residual autodyne table or the residual autodyne curve, and outputting the autodyne correction result to the magnetic compass autodyne correction device. Quantitative description of the distortion degree of the working magnetic field of the magnetic compass and detection of the autodyne correction result are completed through the sensor, and the ship operation cost is saved.

Description

Technical Field

[0001] The invention belongs to the technical field of geomagnetic navigation and magnetic sensors, and in particular relates to a novel magnetic compass self-deviation correction auxiliary device and method. Background Art

[0002] The magnetic compass is an essential navigation instrument for ocean-going ships. Its basic use is to provide continuous and stable ship heading information in the event of an emergency.

[0003] The magnetic compass obtains magnetic heading information through the sensitive geomagnetic field. In order to eliminate magnetic interference, the magnetic compass must be corrected for deviation after installation on site. The compass deviation changes must be monitored in real time during the ship's navigation and the compass deviation table must be corrected in a timely manner.

[0004] Magnetic compass deviation correction currently still uses manual observation methods to measure and eliminate compass deviation. Due to the liquid floating structure of the compass pointing component, the compass plate is prone to swing when the sea conditions are bad, which in turn affects the correction time and quality.

[0005] Therefore, ordinary technicians in this field are in urgent need of an auxiliary device that can quickly measure and eliminate compass deviation while maintaining the original simple structure of the magnetic compass. Summary of the invention

[0006] The purpose of the present invention is to overcome the shortcomings of the prior art and to propose a novel magnetic compass deviation correction auxiliary device and method, which can complete the deviation measurement of the heading of each main point of the magnetic compass and the correction amount calculation of each compass deviation correction device during the rotation of the ship. After the binding of various correction components is completed, the deviation correction quality can be checked through the remaining deviation table (curve) during the next round of rotation of the ship.

[0007] The present invention solves the practical problem by adopting the following technical solutions:

[0008] A novel magnetic compass deviation correction auxiliary device comprises: an electronic compass, a three-axis magnetic field meter and a data terminal; the output ends of the electronic compass and the three-axis magnetic field meter are connected to the data terminal, the three-axis magnetic field meter is used for quantitatively measuring the measured data of environmental magnetic field distortion; the electronic compass is used for obtaining magnetic heading information; the output end of the data terminal is connected to the magnetic compass deviation correction device, and is used for receiving information from the electronic compass and the three-axis magnetic field meter, referring to the magnetic compass deviation correction equation, calculating the compass northing force and the deviation force through the magnetic compass deviation correction software, and then calculating the correction amount of the magnetic compass deviation correction device, outputting the deviation correction result through the magnetic compass residual deviation table or residual deviation curve, and outputting the deviation correction result to the magnetic compass deviation correction device.

[0009] Moreover, the novel magnetic compass self-deviation correction auxiliary device and method also include: a carrier plate, an electronic compass is installed on the top of the carrier plate, and the relative spatial installation position of the electronic compass is adjusted along the longitudinal direction of the carrier plate relative to the center point of the carrier plate; a three-axis magnetic field intensity meter is installed at the bottom of the carrier plate, and the carrier plate is installed on the gimbal assembly of the magnetic compass when in use, and its installation position is located in the same horizontal plane as the magnetic steel pointing to the magnetic compass basin, and a counterweight chassis is hung at the bottom of the carrier plate.

[0010] Moreover, the magnetic compass deviation correction software includes two parts: compass horizontal direction deviation correction software and compass vertical direction deviation correction software;

[0011] Among them, the compass horizontal direction self-error correction software draws the environmental magnetic field distortion curve with the help of the real-time acquired magnetic heading information and the magnetic induction intensity along the horizontal and vertical axes during the ship's rotation; the environmental magnetic field distortion curve is simulated through the Poisson equation, and then the magnitude of each differential force is calculated;

[0012] Among them, the compass vertical deviation correction software uses a three-axis magnetic field intensity meter to obtain the magnetic induction intensity in the vertical direction of the compass, and the magnetic compass deviation monitoring software is used to monitor the correction results of the vertical correction magnet in real time.

[0013] A novel method for implementing a magnetic compass deviation correction auxiliary device comprises the following steps:

[0014] Step 1: Install the self-error correction auxiliary device;

[0015] Step 2: During the ship's voyage, the working magnetic field detection is completed during the ship's rotation, and the correction amount of each self-differential correction device is calculated according to the detection result, and various types of self-differential correction components are installed according to the correction amount;

[0016] Step 3: Complete the automatic detection of the self-error correction result during the next rotation of the ship.

[0017] Moreover, the specific method of calculating the correction amount of each difference correction device according to the detection result in step 2 is:

[0018] The pointing force H on the magnetic compass pointing assembly in the horizontal state ＇ Along the magnetic meridian, it is decomposed into the northing force H ＂ The magnitude of the self-differential force F at any heading can be expressed by formula (1).

[0019] F=AλH+BλH sinθ+CλH cosθ+DλH sin 2θ+EλH cos 2θ (1)

[0020] A=db / 2λ

[0021] B=1 / λ(P / H+cZ / H)

[0022] C=1 / λ(Q / H+fZ / H)

[0023] D=ae / 2λ

[0024] E=d+b / 2λ

[0025] in,

[0026] P and Q are hard magnetic materials distributed along the longitudinal / lateral direction of the ship;

[0027] a, b, c, d, e are soft iron rods distributed along the longitudinal / transverse / vertical direction of the ship;

[0028] λ is the north-pointing force coefficient;

[0029] H is the horizontal component of the geomagnetic force at the ship’s location;

[0030] θ is the ship's magnetic heading;

[0031] The force direction of AλH is perpendicular to the magnetic meridian and is a pure self-differential force, called a constant self-differential force.

[0032] BλH acts along the ship's magnetic heading direction, and the self-differential force generated is proportional to the sine of the ship's heading angle;

[0033] CλH acts perpendicular to the ship's magnetic heading direction, and the self-differential force generated is proportional to the cosine of the ship's heading angle;

[0034] During the 360° rotation of the ship, the self-differential force of BλH and CλH reaches the maximum twice and passes through zero twice. It belongs to the semicircular variation property and is called semicircular self-differential force;

[0035] DλH acts in the direction of twice the ship's magnetic heading, and the self-differential force generated is proportional to the sine of twice the ship's heading angle;

[0036] EλH acts perpendicular to the direction of 2 times the ship's magnetic heading, and the self-differential force generated is proportional to the cosine of twice the ship's heading angle;

[0037] During the 360° rotation of the ship, the self-differential force of DλH and EλH reaches the maximum four times and passes through zero four times. It belongs to the quadrant change property and is called quadrant self-differential force;

[0038] Corresponding to the above-mentioned various self-deviation forces, semicircular self-deviation correction devices and quadrant self-deviation correction devices are provided on the magnetic compass cabinet to complete the correction operation during the ship's navigation. For the compass self-deviation caused by magnetic materials of different properties, the correction components made of the same material are used to eliminate it on the heading where the maximum self-deviation is produced.

[0039] Advantages and beneficial effects of the present invention:

[0040] The present invention proposes a novel magnetic compass self-error correction auxiliary device and method. The traditional self-error correction needs to first complete the self-error detection and correction operation on the 6 predetermined main point headings; and then complete the self-error correction result detection on the 8 main point headings. Compared with the traditional self-error correction operation, the present invention uses sensors to complete the quantitative description of the degree of magnetic compass working magnetic field distortion and self-error correction result detection, which effectively shortens the operation time while improving the operation quality and saving the ship operation cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a structural diagram of the magnetic compass deviation correction auxiliary device and method of the present invention;

[0042] Figure 2 The figure is a flowchart of the magnetic compass self-deviation correction process of the present invention. DETAILED DESCRIPTION

[0043] The embodiments of the present invention are further described in detail below with reference to the accompanying drawings:

[0044] A novel magnetic compass deviation correction auxiliary device and method, such as Figure 1 As shown, it includes: an electronic compass, a three-axis magnetic field meter and a data terminal; the output ends of the electronic compass and the three-axis magnetic field meter are connected to the data terminal, and the three-axis magnetic field meter is used to quantify the measured data of environmental magnetic field distortion; the electronic compass is used to obtain magnetic heading information; the output end of the data terminal is connected to a magnetic compass deviation correction device, which is used to receive information from the electronic compass and the three-axis magnetic field meter, refer to the magnetic compass deviation correction equation, calculate the compass northing force and the deviation force through the magnetic compass deviation correction software, and then calculate the correction amount of the magnetic compass deviation correction device, output the deviation correction result through the magnetic compass residual deviation table or residual deviation curve, and output the deviation correction result to the magnetic compass deviation correction device.

[0045] The novel magnetic compass self-deviation correction auxiliary device and method also include: a carrier plate, an electronic compass is installed on the top of the carrier plate, and the relative spatial installation position of the electronic compass is adjusted along the longitudinal direction of the carrier plate relative to the center point of the carrier plate; a three-axis magnetic field intensity meter is installed at the bottom of the carrier plate, and the carrier plate is installed on the gimbal assembly of the magnetic compass when in use, and its installation position is located in the same horizontal plane as the magnetic steel pointing to the magnetic compass basin, and a counterweight chassis is hung at the bottom of the carrier plate.

[0046] The magnetic compass deviation correction software includes two parts: compass horizontal direction deviation correction software and compass vertical direction deviation correction software;

[0047] Among them, the compass horizontal direction self-error correction software draws the environmental magnetic field distortion curve with the help of the real-time acquired magnetic heading information and the magnetic induction intensity along the horizontal and vertical axes during the ship's rotation; the environmental magnetic field distortion curve is simulated through the Poisson equation, and then the magnitude of each differential force is calculated;

[0048] Among them, the compass vertical deviation correction software uses a three-axis magnetic field intensity meter to obtain the magnetic induction intensity in the vertical direction of the compass, and the magnetic compass deviation monitoring software is used to monitor the correction results of the vertical correction magnet in real time.

[0049] A novel operation method of a magnetic compass deviation correction auxiliary device comprises the following steps:

[0050] Step 1: Install the self-error correction auxiliary device;

[0051] Step 2: During the ship's voyage, the working magnetic field detection is completed during the ship's rotation, and the correction amount of each self-differential correction device is calculated according to the detection result, and various types of self-differential correction components are installed according to the correction amount;

[0052] like Figure 2 As shown, the specific method of calculating the correction amount of each difference correction device according to the detection result in step 2 is:

[0053] The main function of the magnetic compass is to use the pointing magnet of its pointing component to sense the earth's magnetic field to indicate the magnetic heading of the ship. Due to the interference of the magnetism of the ship's steel structure on the magnetic compass pointing system, the magnetic compass self-error correction operation must be performed before the device is used.

[0054] The pointing force H on the magnetic compass pointing assembly in the horizontal state ＇ Along the magnetic meridian, it is decomposed into the northing force H ＂ The magnitude of the self-differential force F at any heading can be expressed by formula (1).

[0055] F=AλH+BλH sinθ+CλH cosθ+DλH sin 2θ+EλH cos 2θ (1)

[0056] A=db / 2λ

[0057] B=1 / λ(P / H+cZ / H)

[0058] C=1 / λ(Q / H+fZ / H)

[0059] D=ae / 2λ

[0060] E=d+b / 2λ

[0061] illustrate:

[0062] P and Q are hard magnetic materials distributed along the longitudinal / lateral direction of the ship;

[0063] a, b, c, d, e are soft iron rods distributed along the longitudinal / transverse / vertical direction of the ship;

[0064] λ is the north-pointing force coefficient;

[0065] H is the horizontal component of the geomagnetic force at the ship’s location;

[0066] θ is the ship's magnetic heading;

[0067] The force direction of AλH is perpendicular to the magnetic meridian and is a pure self-differential force. It is called constant self-differential force.

[0068] BλH acts along the ship's magnetic heading direction, and the self-differential force generated is proportional to the sine of the ship's heading angle;

[0069] CλH acts perpendicular to the ship's magnetic heading direction, and the self-differential force generated is proportional to the cosine of the ship's heading angle;

[0070] During the 360° rotation of the ship, the self-differential force of BλH and CλH reaches the maximum twice and passes through zero twice. It belongs to the semicircular variation property and is called semicircular self-differential force;

[0071] DλH acts in the direction of twice the ship's magnetic heading, and the self-differential force generated is proportional to the sine of twice the ship's heading angle;

[0072] EλH acts perpendicular to the direction of 2 times the ship's magnetic heading, and the self-differential force generated is proportional to the cosine of twice the ship's heading angle;

[0073] During the 360° rotation of the ship, the self-differential force of DλH and EλH reaches the maximum four times and passes through zero four times. This is a quadrant change property and is called quadrant self-differential force.

[0074] Corresponding to the above-mentioned various self-deviation forces, semicircular self-deviation correction devices and quadrant self-deviation correction devices are provided on the magnetic compass cabinet to complete the correction operation during the ship's navigation. The basic operating principle is: for the compass self-deviation caused by magnetic materials of different properties, the correction components made of the same material are used to eliminate it on the heading where the maximum self-deviation is produced.

[0075] The correction principle of the compass deviation correction auxiliary device is:

[0076] During the rotation of the ship, the force acting on any heading is obtained through the magnetic field intensity meter. The ship's magnetic heading angle provided by the electronic compass is input into the compass deviation correction software to complete the coordinate transformation and obtain the magnitude of the deviation force. After obtaining several sets of data, the north-pointing force coefficient and the magnitude of various deviation forces are calculated by solving the equations. The installation position, direction and number of the correction components are determined according to the correction gradient table of various deviation correction devices stored in the correction software. After the components are installed, the correction effect is verified during the next ship rotation.

[0077] Step 3: Complete the automatic detection of the self-error correction result during the next rotation of the ship.

[0078] The working principle of the present invention is:

[0079] The main function of the magnetic compass is to use the pointing magnet of its pointing component to sense the geomagnetic field to indicate the magnetic heading of the ship. Since the ship itself is a steel structure, after the equipment is installed on the ship, in order to offset the influence of the ship's magnetism on the main compass pointing system, the magnetic compass deviation correction operation must be performed. The steel structure of the ship itself is divided into hard iron and soft iron. The magnetic properties of soft iron change with the change of heading due to the magnetization of the geomagnetic field, while hard iron is not affected by the magnetization of the geomagnetic field.

[0080] In order to offset the influence of the above objects on the pointing accuracy of the magnetic compass, the device itself is equipped with four types of self-error elimination devices, namely, semicircular self-error elimination device, tilt self-error elimination device, quadrant self-error elimination device and soft semicircular self-error elimination device (also known as Fresnel iron self-error elimination device). After the equipment is installed, the magnetic compass self-error correction operation must be completed before the equipment can be used normally.

[0081] In view of the fact that dynamic real-time observation and elimination of compass deviation are greatly affected by sea conditions, in order to improve the quality of deviation correction and save navigation costs, the magnetic compass deviation correction auxiliary device and method are designed to quantitatively measure the environmental magnetic field distortion through three-axis magnetic field intensity measurement; and obtain magnetic heading information with the help of solid-state electronic compass. Referring to the magnetic compass deviation correction equation, the compass northing force and deviation force are calculated through the compass deviation correction software, and then the correction amount of each compass deviation correction device is calculated. After the binding is completed, the deviation correction result is re-measured, and if qualified, the deviation correction result (correction component position, compass residual deviation table and curve) is stored.

[0082] The magnetic compass deviation correction auxiliary device and method are composed of an electronic compass, a three-axis magnetic field meter and a data terminal; the electronic compass and the three-axis magnetic field meter are installed on a carrier plate; when in use, the carrier plate is installed in the gimbal of the compass cabinet. The electronic compass and the three-axis magnetic field meter transmit real-time measurement data to the data terminal through their own data interface.

[0083] The magnetic compass self-deviation correction calculation software calculates the correction amount of the magnetic compass self-deviation correction device based on relevant data.

[0084] The functions and effects of each component of the present invention are further described below:

[0085] (I) Hardware Design

[0086] 1. Carrying plate

[0087] The basic structure of the magnetic compass error correction auxiliary device is a carrier plate. An electronic compass is installed on the top of the carrier plate. To ensure the normal operation of the electronic compass under non-calibration conditions, the structural design should ensure the relative spatial installation position adjustment of the electronic compass along the longitudinal direction of the carrier plate relative to the center point of the carrier plate. A three-axis magnetic field intensity meter is installed at the bottom of the carrier plate, and its installation height is in the same horizontal plane as the magnetic compass basin pointing to the magnetic steel. To keep the device level, a counterweight chassis is hung at the bottom of the carrier plate.

[0088] The carrier plate is an aluminum disc made of non-magnetic material, which is integrally mounted on the outer axis frame of the gimbal of the compass cabinet. Two mounting shafts extend from the upper end surface of the carrier plate along its two lateral ends, which are used to connect the gimbal; the axis of the mounting shaft and the center point of the carrier plate are located in the same vertical plane; the bow and stern identification lines are engraved along the longitudinal direction on the upper end surface of the carrier plate, which are located in the same vertical plane as the center point of the carrier plate and the axis of the outer axis of the gimbal.

[0089] 2. Electronic compass

[0090] The main function of an electronic compass is to provide accurate magnetic heading indication without calibration.

[0091] The electronic compass consists of two sets of electronic compasses, and their installed bow and stern lines are located in the same vertical plane as the longitudinal bow and stern lines of the carrier plate. In order to eliminate the interference of the hull magnetic material on the compass pointing system, it is necessary to adjust the relative installation height of the electronic compasses so that the directionality of the two sets of electronic compasses located at the front and rear ends of the bow and stern line is completely consistent.

[0092] The pointing accuracy of the electronic compass depends on the installation position after the electronic compass is adjusted; the pointing stability depends on the horizontal maintenance ability of the installation platform in addition to the data filter. The heading information of the two sets of electronic compasses is output to the data terminal through their respective standard digital interfaces and serial port converters. The data line should be of sufficient length.

[0093] The electronic compass model is MCL303, which is a high-precision, low-power digital magnetic compass independently developed by the 710th Institute of China State Shipbuilding Corporation. It integrates a three-axis magnetic sensor, a three-axis acceleration sensor and a temperature sensor, has excellent performance, and can provide a variety of calibration methods to meet the various application needs of users.

[0094] 3. Three-axis magnetic field meter

[0095] The main function of the three-axis magnetic field meter is to accurately measure the ambient magnetic field strength of the magnetic compass pointing component at its working position.

[0096] The three-axis magnetic field meter uses the FM3A-A fluxgate fluxmeter independently developed by the 710th Research Institute of China State Shipbuilding Corporation. The basic components are fluxgate sensor probe, data acquisition module, and host computer software. It has the functions of data display, curve display, data storage, and background field removal.

[0097] The FM3A-A fluxgate fluxmeter has the characteristics of low noise, excellent power consumption, easy operation, and can be powered independently.

[0098] (II) Software Design

[0099] 1. The working process of compass deviation correction, such as Figure 2 shown.

[0100] The main function of the compass deviation correction software is to quantitatively measure the degree of environmental magnetic field distortion during one rotation of the ship, calculate the correction amount of the compass's deviation correction device, and output the deviation correction result through the compass residual deviation table / residual deviation curve.

[0101] The compass deviation correction software is divided into two parts: horizontal and vertical.

[0102] The compass horizontal deviation correction software draws the environmental magnetic field distortion curve with the help of the real-time acquired magnetic heading information and the magnetic induction intensity along the horizontal and vertical axes during the rotation of the ship; the environmental magnetic field distortion curve is simulated by Poisson's equation, and the magnitude of each differential force is then calculated.

[0103] The compass vertical deviation correction software uses a three-axis magnetic field meter to obtain the magnetic induction intensity in the vertical direction of the compass and monitors the correction results of the vertical correction magnet in real time.

[0104] The compass deviation correction software sets up several functional modules.

[0105] Electronic compass: electronic compass calibration (calibration program startup, calibration mode determination, filter order binding); abnormal output monitoring of magnetic heading information.

[0106] Data acquisition module: The real-time collected three-axis magnetic induction intensity and the corresponding magnetic heading information are stored and displayed through the environmental magnetic field distortion curve.

[0107] 2. Compass deviation monitoring software

[0108] The data input of the compass deviation monitoring software is the real-time magnetic heading information sent by the magnetic heading information conversion module and the real-time ship heading information transmitted via the ship bus. The compass deviation monitoring software is divided into two working units: magnetic heading information display and compass deviation real-time monitoring. The main functions of compass deviation real-time monitoring are

[0109] 1) Real-time monitoring and recording of compass deviation changes;

[0110] 2) Revise the compass residual deviation table and residual deviation curve according to the changes in the compass deviation;

[0111] 3) If the remaining compass deviation exceeds the allowable range, prompt the user to correct the compass deviation in time;

[0112] 3. Verification steps

[0113] The verification steps of the magnetic compass deviation correction auxiliary device and method are as follows

[0114] 1) Insert the correction magnetic steel and soft iron sheet into the magnetic rod rack and soft iron sheet installation box of the compass cabinet to form an interfering magnetic field;

[0115] 2) Install the carrier plate on the binnacle instead of the magnetic compass, and fix the binnacle on the non-magnetic turntable and lock it;

[0116] 3) Turn on the power of the electronic compass and adjust the installation position of the electronic compass so that the heading indication of the electronic compass remains unchanged as it moves along the track;

[0117] 4) Rotate the non-magnetic turntable to check whether the heading indication of the electronic compass at each reference heading meets the accuracy requirements;

[0118] 5) Turn on the power supply of the fluxmeter, rotate the non-magnetic turntable, and record the horizontal and vertical magnetic field strengths of the fluxmeter at each reference heading;

[0119] 6) Input the measured data into the compass self-error correction software and derive the correction value of each self-error correction device;

[0120] 7) Check whether the correction amount of each difference correction device is consistent with the preset amount.

[0121] The result of compass deviation simulation correction using the magnetic compass deviation correction auxiliary tooling is that the maximum residual deviation is 2.18°, which meets the design requirements (after the compass deviation correction is completed, the residual deviation of the compass in any heading is no more than 3°).

[0122] It should be emphasized that the embodiments of the present invention are illustrative rather than restrictive. Therefore, the present invention includes but is not limited to the embodiments described in the specific implementation modes. Any other implementation modes derived by those skilled in the art based on the technical solutions of the present invention also fall within the scope of protection of the present invention.

Claims

1. A novel magnetic compass deviation correction auxiliary device, characterized in that: include: An electronic compass, a three-axis magnetic field meter and a data terminal; the output ends of the electronic compass and the three-axis magnetic field meter are connected to the data terminal, the three-axis magnetic field meter is used to quantify the measured data of environmental magnetic field distortion; the electronic compass is used to obtain magnetic heading information; the output end of the data terminal is connected to a magnetic compass deviation correction device, which is used to receive information from the electronic compass and the three-axis magnetic field meter, refer to the magnetic compass deviation correction equation, calculate the compass northing force and the deviation force through the magnetic compass deviation correction software, and then deduce the correction amount of the magnetic compass deviation correction device, output the deviation correction result through the magnetic compass residual deviation table or residual deviation curve, and output the deviation correction result to the magnetic compass deviation correction device.

2. The novel magnetic compass deviation correction auxiliary device according to claim 1 is characterized in that: The novel magnetic compass self-deviation correction auxiliary device and method also include: a carrier plate, an electronic compass is installed on the top of the carrier plate, and the relative spatial installation position of the electronic compass is adjusted along the longitudinal direction of the carrier plate relative to the center point of the carrier plate; a three-axis magnetic field intensity meter is installed at the bottom of the carrier plate, and the carrier plate is installed on the gimbal assembly of the magnetic compass when in use, and its installation position is located in the same horizontal plane as the magnetic steel pointing to the magnetic compass basin, and a counterweight chassis is hung at the bottom of the carrier plate.

3. The novel magnetic compass deviation correction auxiliary device according to claim 1 is characterized in that: The magnetic compass deviation correction software includes two parts: compass horizontal direction deviation correction software and compass vertical direction deviation correction software; Among them, the compass horizontal direction self-error correction software draws the environmental magnetic field distortion curve with the help of the real-time acquired magnetic heading information and the magnetic induction intensity along the horizontal and vertical axes during the ship's rotation; the environmental magnetic field distortion curve is simulated through the Poisson equation, and then the magnitude of each differential force is calculated; Among them, the compass vertical deviation correction software uses a three-axis magnetic field intensity meter to obtain the magnetic induction intensity in the vertical direction of the compass, and the magnetic compass deviation monitoring software is used to monitor the correction results of the vertical correction magnet in real time.

4. A method for implementing a novel magnetic compass deviation correction auxiliary device, characterized in that: The following steps are involved: Step 1: Install the self-error correction auxiliary device; Step 2: During the ship's voyage, the working magnetic field detection is completed during the ship's rotation, and the correction amount of each self-differential correction device is calculated according to the detection result, and various types of self-differential correction components are installed according to the correction amount; Step 3: Complete the automatic detection of the self-error correction result during the next rotation of the ship.

5. The method for implementing the novel magnetic compass deviation correction auxiliary device according to claim 4 is characterized in that: The specific method of calculating the correction amount of each difference correction device according to the detection results in step 2 is: The pointing force H on the magnetic compass pointing assembly in the horizontal state ＇ Along the magnetic meridian, it is decomposed into the northing force H ＂ The magnitude of the self-differential force F in any heading can be expressed by formula (1): F=AλH+BλH sinθ+CλH cosθ+DλH sin 2θ+EλH cos 2θ (1) A=db / 2λ B=1 / λ(P / H+cZ / H) C=1 / λ(Q / H+fZ / H) D=ae / 2λ E=d+b / 2λ in, P and Q are hard magnetic materials distributed along the longitudinal / lateral direction of the ship; a, b, c, d, e are soft iron rods distributed along the longitudinal / transverse / vertical direction of the ship; λ is the north-pointing force coefficient; H is the horizontal component of the geomagnetic force at the ship’s location; θ is the ship's magnetic heading; The force direction of AλH is perpendicular to the magnetic meridian and is a pure self-differential force, called a constant self-differential force. BλH acts along the ship's magnetic heading direction, and the self-differential force generated is proportional to the sine of the ship's heading angle; CλH acts perpendicular to the ship's magnetic heading direction, and the self-differential force generated is proportional to the cosine of the ship's heading angle; During the 360° rotation of the ship, the self-differential force of BλH and CλH reaches the maximum twice and passes through zero twice; it belongs to the semicircular variation property and is called semicircular self-differential force; DλH acts in the direction of twice the ship's magnetic heading, and the self-differential force generated is proportional to the sine of twice the ship's heading angle; EλH acts perpendicular to the direction of 2 times the ship's magnetic heading, and the self-differential force generated is proportional to the cosine of twice the ship's heading angle; During the 360° rotation of the ship, the self-differential force of DλH and EλH reaches the maximum four times and passes through zero four times; it belongs to the quadrant change property and is called quadrant self-differential force; Corresponding to the above-mentioned various self-deviation forces, semicircular self-deviation correction devices and quadrant self-deviation correction devices are provided on the magnetic compass cabinet to complete the correction operation during the ship's navigation. For the compass self-deviation caused by magnetic materials of different properties, the correction components made of the same material are used to eliminate it on the heading where the maximum self-deviation is produced.

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