为减小舰船直航向运动情况下风、流、摇摆等对电罗经航向造成的随机误差影响，提高舰船直航向运动时电罗经指向精度，采用高阶AR模型对电控罗经随机误差进行建模和预测，将之与自行设计的改进型自抗扰控制技术相结合，实现模型的抗扰动处理。通过与标准自抗扰控制器和H∞Kalman滤波器进行对比表明，采用改进型自抗扰控制技术与高阶AR模型结合的方法较为有效地抑制了电罗经航向随机误差，为减小电罗经直航向误差提供一种行之有效的方法。

In order to reduce the random error and improve the heading accuracy of Electromagnetic Controlled Gyrocompass when a ship moves in straight course,a higher-order AR model was used to construct a model for random error of the gyrocompass.Then,it was used together with the improved Active Disturbance Rejection Control(ADRC).Compared with the standard active disturbance controller and H∞ Kalman filter,the method combining the improved ADRC with higher-order AR model can restrain the random course error of electromagnetic controlled gyrocompass effectively,which supplies an effective method for reducing the linear course error.