Multi-source heterogeneous pnt component information credibility evaluation method and system thereof

Abstract

The application discloses a kind of multi-source heterogeneous PNT component information credible evaluation method and system thereof, method includes: based on N crystal oscillator, N inertial measurement component, N barometer and beidou receiver module constructs high credible core PNT component system, wherein N≥3;Based on the credible PNT original information that high credible core PNT component system exports constructs high credible PNT information;According to high credible PNT information, static error characteristic, dynamic error characteristic, environmental adaptability and motion adaptability analysis are carried out to multi-source heterogeneous PNT component information, and the elastic fusion of credible multi-source heterogeneous PNT component information is carried out.The present application guarantees that PNT terminal system provides more accurate, more continuous, more usable and more reliable PNT service information, so as to solve the problem that existing PNT terminal system does not have reliability from PNT source level.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of multi-source PNT information flexible fusion positioning, navigation and control, in particular to a high-trust core PNT component system and a multi-source heterogeneous PNT component information trust evaluation method and system. BACKGROUND

[0002] Positioning, navigation and timing, referred to as PNT, a Beidou satellite navigation system has been built in China, and is being applied on a large scale. The construction of an integrated PNT system with the Beidou system as the core is a major national strategy. The integrated PNT system includes integrated PNT infrastructure and integrated PNT application system. The former is constructed and maintained by the state and provides a unified space-time reference. The latter is a PNT terminal system formed by integrating different PNT sensors according to actual application requirements, and is the basis for integrated PNT applications. In order to ensure the safe and reliable application of integrated PNT, the component flexible PNT technical framework and theoretical method has become a hot and important research topic at home and abroad, and is also a major factor in the ownership of the international PNT commanding height.

[0003] Since Professor Yang Yuanxi of the Chinese Academy of Sciences first proposed flexible PNT, countries around the world have attached great importance to the development of flexible PNT technology. In order to meet the accurate, continuous and reliable positioning and navigation requirements of carriers in typical scenarios such as deep space, air, near earth, city, indoor, sea and underwater, it is necessary to flexibly integrate multi-physical principle PNT components and flexibly access and fuse multi-source heterogeneous information to provide accurate, continuous, reliable and safe PNT service information for different carriers in different application scenarios. Due to the different environmental suitability and motion adaptability of different PNT components, in order to ensure the usability of different PNT information, it is necessary to evaluate the trustworthiness of multi-source heterogeneous PNT information to provide reliable PNT information sources for the fusion system. In order to realize the trust evaluation of multi-source heterogeneous PNT information, it is necessary to construct a high-trust PNT component system to ensure its usability, continuity and reliability, and then use the component system to evaluate the trustworthiness of multi-source heterogeneous PNT information. SUMMARY

[0004] Therefore, the application provides a multi-source heterogeneous PNT component information trust evaluation method and system to solve the problem of trust evaluation of PNT component information of different performance produced by different manufacturers and the problem of weak PNT capability of high continuity, high accuracy, high availability and high reliability provided by a PNT terminal system in a complex application scenario.

[0005] In order to achieve the above purpose, the application adopts the following technical scheme:

[0006] A multi-source heterogeneous PNT component information trust evaluation method, comprising:

[0007] Step 1: based on N crystal oscillators, N inertial measurement components IMUs, N barometers and Beidou receiver modules, a high-trust core PNT component system is constructed, wherein N≥3;

[0008] Step 2: based on the trusted PNT raw information output by the high-trust core PNT component system, a high-trust PNT information is constructed;

[0009] Step 3: according to the high-trust PNT information, the static error characteristics, dynamic error characteristics, environmental adaptability and motion adaptability of the multi-source heterogeneous PNT component information are analyzed, and the trusted multi-source heterogeneous PNT component information is flexibly fused.

[0010] Preferably, step 1 specifically includes:

[0011] Step 101: N crystal oscillators, N inertial measurement components IMUs, N barometers and Beidou receiver modules are integrated and integrated to form a high-trust core PNT component board card;

[0012] Step 102: the processing, evaluation and calculation process of the output information of N crystal oscillators, N inertial measurement components IMUs, N barometers and Beidou receiver modules is programmed and placed in the embedded processor or computer processor of the high-trust core PNT component board card to form a high-trust core PNT component system.

[0013] Preferably, step 2 specifically includes:

[0014] Step 201: based on N crystal oscillators, a clock group is formed, the availability and reliability of each crystal oscillator are evaluated by a voting method, and the output information of the untrusted crystal oscillator is isolated, and then the output time information of the trusted crystal oscillator is normalized to form continuous, available and trusted relative time information;

[0015] Step 202: using the height information output by N barometers, the availability and reliability of each barometer are evaluated by a voting method, and the output information of the untrusted barometer is isolated, and then the output information of the trusted barometer is fused to form high-trust height information, wherein the height obtained with the working ground as the reference is the relative height, and the height obtained with the sea level as the reference is the absolute height;

[0016] Step 203: using the acceleration and angular velocity data output by the N inertial measurement components IMUs, evaluating the availability and reliability of each inertial measurement component IMU by a voting method, isolating the output information of the untrusted inertial measurement component IMU, and then fusing the output information of the trusted inertial measurement component IMU and the high-trust altitude information to obtain high-trust acceleration and angular velocity information or to obtain velocity increment and angle increment, and then to obtain three-dimensional position, three-dimensional velocity and three-dimensional attitude information, wherein the position and velocity obtained with the zero time as the reference are the relative three-dimensional position and three-dimensional velocity, and the position and velocity with the earth coordinate system as the reference are the absolute three-dimensional position and three-dimensional velocity;

[0017] Step 204: evaluating the continuity and availability of Beidou according to the information output by the Beidou receiver module, evaluating the information output by the Beidou receiver based on continuous, available and trusted relative time information, high-trust altitude information, three-dimensional position, three-dimensional velocity and three-dimensional attitude information, and then outputting high-trust position, velocity and attitude information, specifically: when the information output by the Beidou receiver module is trusted, correcting the crystal oscillator time based on the Beidou time, and forming high-trust absolute time information, at the same time, fusing the position, velocity and attitude information output by the Beidou receiver module with the three-dimensional position, three-dimensional velocity and three-dimensional attitude information to form high-trust absolute position, absolute velocity and absolute attitude information; when the information output by the Beidou system is untrusted, calculating high-trust relative position, velocity and attitude information based on high-trust acceleration and angular velocity information and high-trust altitude information.

[0018] Preferably, step 3 specifically includes:

[0019] Step 301: performing time and space unification and consistency description calculation on the multi-source heterogeneous PNT component information of flexible access, forming space-time consistent angle measurement, relative position information, relative velocity information, relative attitude information, acceleration, angular velocity, position, velocity, attitude and ranging;

[0020] Step 302: taking the trusted PNT original information, high-trust position, velocity and attitude information as reference information, performing static error characteristic, dynamic error characteristic, environment adaptability and motion adaptability analysis on the multi-source heterogeneous PNT component information of flexible access which has been time and space unified and consistently described, establishing a multi-source heterogeneous PNT component information trust evaluation model with the reference information as the reference, including a function model and a probability model, and then performing trust evaluation on the multi-source heterogeneous PNT component information;

[0021] Step 303: isolate the untrusted multi-source heterogeneous PNT component information and re-evaluate after restarting the multi-source heterogeneous PNT component; and perform multi-source heterogeneous PNT information flexible fusion on the trusted multi-source heterogeneous PNT component information, so as to improve the continuity, availability and reliability of the component PNT terminal system.

[0022] A multi-source heterogeneous PNT component information trust evaluation system comprises:

[0023] A high-trust core PNT component system construction module is configured to construct a high-trust core PNT component system based on N crystal oscillators, N inertial measurement components (IMUs), N barometers and a Beidou receiver module, where N is greater than or equal to 3.

[0024] An information calculation module is configured to construct high-trust PNT information based on the trusted PNT raw information output by the high-trust core PNT component system.

[0025] A trust evaluation module is configured to analyze the static error characteristics, dynamic error characteristics, environmental adaptability and motion adaptability of the multi-source heterogeneous PNT component information according to the high-trust PNT information, and perform flexible fusion on the trusted multi-source heterogeneous PNT component information.

[0026] An electronic device comprises a memory, a processor and a computer program stored on the memory and executable on the processor, and the processor implements the above method when executing the computer program.

[0027] A non-transitory computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the above method.

[0028] According to the above technical solution, compared with the prior art, the present disclosure provides a multi-source heterogeneous PNT component information trust evaluation method and system. In view of the fact that the existing terminal system does not have the capability of multi-source heterogeneous PNT information trust evaluation, a high-trust core PNT component system is constructed to provide trusted PNT component raw data and PNT information, and the multi-source heterogeneous PNT information is evaluated for trustworthiness. The untrusted PNT information is isolated and the PNT component is restarted for re-evaluation. The trusted PNT information is fused to obtain continuous, available and reliable PNT service information. The present disclosure can improve the reliability of the PNT terminal system, and ensure that the PNT terminal system provides more accurate, more continuous, more available and more reliable PNT service information when different PNT terminal applications in different application environments integrate different PNT components produced by different manufacturers. Thus, the problem of the lack of reliability of the existing PNT terminal system is solved from the PNT source level. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute a part of the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of the provided drawings.

[0030] Figure 1 The figure is a whole flow chart of a multi-source heterogeneous PNT component information credibility evaluation method provided by the present application.

[0031] Figure 2 The figure is a specific implementation flow chart of a multi-source heterogeneous PNT component information credibility evaluation method in an embodiment. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments only constitute a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0033] The embodiments of the present application disclose a multi-source heterogeneous PNT component information credibility evaluation method, as shown in the figure, comprising: Figure 1

[0034] Step 1: Building a high-credibility core PNT component system based on N crystal oscillators, N inertial measurement components (IMU), N barometers and Beidou receivers, wherein N≥3; wherein the N crystal oscillators can be constant-temperature crystal oscillators, ordinary crystal oscillators or a combination of constant-temperature crystal oscillators and ordinary crystal oscillators; the N inertial measurement components can be low-cost IMUs or medium-high-precision IMUs, and the IMU can also be replaced by an accelerometer and a gyroscope, specifically, 3 single-axis accelerometers or 1 3-axis accelerometer, 3 single-axis gyroscopes or 1 3-axis gyroscope;

[0035] Step 2: Building a high-credibility PNT information based on the credible PNT raw information output by the high-credibility core PNT component system;

[0036] Step 3: According to the high-credibility PNT information, analyzing the static error characteristics, dynamic error characteristics, environmental adaptability and motion adaptability of the multi-source heterogeneous PNT component information, and elastically fusing the credible multi-source heterogeneous PNT component information.

[0037] As shown in the figure, in the present embodiment, N=3, and the specific implementation process of step 1 is as follows: Figure 2

[0038] ​​Step 101: integrate 3 crystal oscillators, 3 inertial measurement units (IMUs), 3 barometers, and a Beidou receiver module to form a high-trust core PNT component board, wherein the 3 crystal oscillators can be oven-controlled crystal oscillators, ordinary crystal oscillators, or a combination of oven-controlled crystal oscillators and ordinary crystal oscillators; the 3 IMUs can be low-cost IMUs or medium-high-precision IMUs, and the IMUs can be replaced by 3 single-axis accelerometers or 1 3-axis accelerometer, 3 single-axis gyroscopes, or 1 3-axis gyroscope;

[0039] Step 102: program the processing, evaluation, and calculation of the output information of the 3 crystal oscillators, 3 IMUs, 3 barometers, and a Beidou receiver module and place them in the embedded processor or computer processor of the high-trust core PNT component board to form a high-trust core PNT component system.

[0040] Step 2 specific implementation process:

[0041] Step 201: use 3 crystal oscillators to form a clock group. The relative change of the crystal oscillator has the characteristics of continuity, stability, and high precision. The availability and reliability of each crystal oscillator are evaluated by a voting method, and the output information of the untrusted crystal oscillator is isolated. The output time information of the trusted crystal oscillator is then normalized to form continuous, available, and trusted relative time information.

[0042] Step 202: use the height information output by the 3 barometers to evaluate the availability and reliability of each barometer by a voting method, isolate the output information of the untrusted barometer, and then fuse the output information of the trusted barometers to form high-trust height information. The height obtained with the ground as the reference is the relative height, and the height obtained with the sea level as the reference is the absolute height.

[0043] Step 203: use the acceleration and angular velocity data output by the 3 IMUs to evaluate the availability and reliability of each IMU by a voting method and isolate the output information of the untrusted IMU. Then, fuse the output information of the multiple trusted IMUs and the high-trust height information to obtain high-trust acceleration and angular velocity information, or obtain velocity increments and angle increments, and then obtain three-dimensional position, three-dimensional velocity, and three-dimensional attitude information. The position and velocity obtained with zero time as the reference are the relative three-dimensional position and three-dimensional velocity, and the position and velocity obtained with the Earth coordinate system as the reference are the absolute three-dimensional position and three-dimensional velocity.

[0044] Step 204: evaluate the continuity and availability of Beidou according to the information output by the Beidou receiver module, evaluate the information output by the Beidou receiver module based on continuous, available and reliable relative time information, highly reliable height information, three-dimensional position, three-dimensional speed and three-dimensional attitude information, and then output highly reliable position, speed and attitude information, specifically: when the information output by the Beidou system is reliable, use the Beidou time to correct the crystal oscillator time and form highly reliable absolute time information, at the same time, fuse the position, speed and attitude information output by the Beidou with the three-dimensional position, three-dimensional speed and three-dimensional attitude information to form highly reliable absolute position, absolute speed and absolute attitude information; when the information output by the Beidou system is not reliable, calculate the highly reliable relative position, relative speed and relative attitude information based on the highly reliable acceleration and angular velocity information and the highly reliable height information;

[0045] Step 3 specifically includes:

[0046] Step 301: time and space unification and consistency description calculation is performed on the multi-source heterogeneous PNT information of elastic access, and time and space consistent acceleration, angular velocity, position, speed, attitude, ranging, angle measurement, relative position, relative speed and relative attitude information is formed;

[0047] Step 302: taking the reliable PNT original information, highly reliable position, speed and attitude information as reference information, the static error characteristics, dynamic error characteristics, environmental adaptability and motion adaptability of the multi-source heterogeneous PNT information subjected to time and space unification and consistency description of elastic access are analyzed, a multi-source heterogeneous PNT information credibility evaluation model is established, including a function model and a probability model, and then the credibility of the multi-source heterogeneous PNT information is evaluated;

[0048] Step 303: isolate the untrusted multi-source heterogeneous PNT component information and restart the multi-source heterogeneous PNT component to reevaluate; the trusted multi-source heterogeneous PNT component information is subjected to multi-source heterogeneous PNT information elastic fusion to improve the continuity, availability and reliability of the terminal system in the component PNT.

[0049] The embodiment discloses a multi-source heterogeneous PNT component information credibility evaluation system, comprising:

[0050] A high-reliability core PNT component system construction module is used to construct a high-reliability core PNT component system based on N crystal oscillators, N inertial measurement components (IMUs), N barometers and a Beidou receiver module, wherein N≥3.

[0051] An information calculation module is used to construct highly reliable PNT information based on the reliable PNT original information output by the high-reliability core PNT component system; and

[0052] Trusted evaluation module: according to high-trust PNT information, static error characteristics, dynamic error characteristics, environmental adaptability and motion adaptability analysis are carried out on multi-source heterogeneous PNT component information, and the trusted multi-source heterogeneous PNT component information is elastically fused.

[0053] The specific implementation process of the high-trust core PNT component system construction module is as follows:

[0054] Step 101: integrate N crystal oscillators, N inertial measurement components IMU, N barometers and Beidou receiver modules to form a high-trust core PNT component board card;

[0055] Step 102: program the processing, evaluation and calculation process of the output information of N crystal oscillators, N inertial measurement components IMU, N barometers and Beidou receiver modules and place it in the embedded processor or computer processor of the high-trust core PNT component board card to form a high-trust core PNT component system.

[0056] The specific implementation process of the information calculation module is as follows:

[0057] Step 201: form a clock group based on N crystal oscillators, evaluate the availability and reliability of each crystal oscillator by voting method, isolate the output information of the untrusted crystal oscillator, and then normalize the output time information of the trusted crystal oscillator to form continuous, available and trusted relative time information;

[0058] Step 202: use the height information output by N barometers, evaluate the availability and reliability of each barometer by voting method, isolate the output information of the untrusted barometer, and then fuse the output information of the trusted barometer to form high-trust height information, wherein the height obtained with the working ground as the reference is the relative height, and the height obtained with the sea level as the reference is the absolute height;

[0059] Step 203: use the acceleration and angular velocity data output by N inertial measurement components IMU, evaluate the availability and reliability of each inertial measurement component IMU by voting method, isolate the output information of the untrusted inertial measurement component IMU, and then fuse the output information of the trusted inertial measurement component IMU and the high-trust height information to obtain high-trust acceleration and angular velocity information, or obtain velocity increment and angle increment, and then obtain three-dimensional position, three-dimensional velocity and three-dimensional attitude information, wherein the position and velocity obtained with zero time as the reference are the relative three-dimensional position and three-dimensional velocity, and the position and velocity obtained with the earth coordinate system as the reference are the absolute three-dimensional position and three-dimensional velocity;

[0060] Step 204: According to the information output by the Beidou receiver module, the continuity and availability of Beidou are evaluated. Based on the continuous, available and reliable relative time information, high reliable height information, three-dimensional position, three-dimensional speed and three-dimensional attitude information, the information output by the Beidou receiver module is evaluated, and then high reliable position, speed and attitude information is output. Specifically, when the information output by the Beidou receiver module is reliable, the crystal oscillator time is corrected based on the Beidou time, and high reliable absolute time information is formed. At the same time, the position, speed and attitude information output by the Beidou receiver module is fused with the three-dimensional position, three-dimensional speed and three-dimensional attitude information to form high reliable absolute position, absolute speed and absolute attitude information; when the information output by the Beidou system is not reliable, high reliable relative position, relative speed and relative attitude information is calculated based on high reliable acceleration and angular velocity information and high reliable height information.

[0061] The specific implementation process of the reliable evaluation module is as follows:

[0062] Step 301: Time and space unification and consistency description calculation is performed on the information of the elastically accessed multi-source heterogeneous PNT component, and time and space consistent angle measurement, relative position, relative speed, relative attitude information, acceleration, angular velocity, position, speed, attitude and distance measurement are formed.

[0063] Step 302: Taking the reliable PNT original information, high reliable position, speed and attitude information as reference information, static error characteristics, dynamic error characteristics, environmental adaptability and motion adaptability analysis are performed on the multi-source heterogeneous PNT component information which has been time and space unified and consistently described, a multi-source heterogeneous PNT component information reliable evaluation model is established, including function model and probability model, and then the reliability of the multi-source heterogeneous PNT component information is evaluated.

[0064] Step 303: The unreliable multi-source heterogeneous PNT component information is isolated and the multi-source heterogeneous PNT component is restarted for reevaluation; the reliable multi-source heterogeneous PNT component information is elastically fused to improve the continuity, availability and reliability of the component PNT terminal system.

[0065] The present application has the advantages that: for the existing PNT terminal system, in a complex application scenario, it does not have the capability of performing a trusted evaluation on an accessed PNT information source, and cannot effectively ensure that the PNT service information provided by the PNT terminal is available and reliable. Therefore, the present application utilizes the redundancy and consistency of multiple homogeneous sensor information, constructs a high-trust core PNT component system to provide high-availability and high-trust absolute or relative PNT information, and performs an available and trusted evaluation on the multi-source heterogeneous PNT information by taking the high-availability and high-trust absolute or relative PNT information as a reference, performs an elastic fusion on the trusted PNT information, isolates the untrusted PNT information, and restarts the PNT component to re-evaluate, so as to realize that the component PNT terminal performs a trusted evaluation on the multi-source heterogeneous PNT information that is elastically accessed, and thus improves the availability and reliability of the elastic system of the component PNT terminal.

[0066] The embodiment provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the above method when executing the computer program.

[0067] The embodiment provides a non-transitory computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the above method.

[0068] The readable storage medium includes various media that can store program codes, such as a mobile storage device, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0069] In the specification, each embodiment is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same or similar parts of each embodiment can be referred to each other. For the device disclosed by the embodiment, since it corresponds to the method disclosed by the embodiment, the description is relatively simple, and the related parts can be referred to the method part.

[0070] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications of the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-source heterogeneous PNT component information trustworthiness evaluation method, characterized in that, The application relates to a high-reliability PNT system and a method for constructing the same. Step 1: constructing a high-reliability core PNT component system based on N crystal oscillators, N inertial measurement components (IMUs), N barometers and a Beidou receiver module, wherein N>=3; Step 2: constructing high-reliability PNT information based on the reliable PNT original information output by the high-reliability core PNT component system; Step 3: according to the high-reliability PNT information, analyzing the static error characteristics, dynamic error characteristics, environmental adaptability and motion adaptability of the multi-source heterogeneous PNT component information, and elastically fusing the reliable multi-source heterogeneous PNT component information. Step 1 specifically comprises: Step 101: integrally designing and integrating the N crystal oscillators, the N inertial measurement components (IMUs), the N barometers and the Beidou receiver module to form a high-reliability core PNT component board card; Step 102: programming the processing, evaluation and calculation process of the output information of the N crystal oscillators, the N inertial measurement components (IMUs), the N barometers and the Beidou receiver module and placing the same in an embedded processor or a computer processor of the high-reliability core PNT component board card to form a high-reliability core PNT component system; Step 2 specifically comprises: Step 201: forming a clock group based on the N crystal oscillators, evaluating the availability and reliability of each crystal oscillator by a voting method, isolating the output information of the untrusted crystal oscillator, normalizing the output time information of the trusted crystal oscillator and forming continuous, available and reliable relative time information; Step 202: using the height information output by the N barometers, evaluating the availability and reliability of each barometer by a voting method, isolating the output information of the untrusted barometer, fusing the output information of the trusted barometer and forming high-reliability height information, wherein the height obtained by taking the working ground as a reference is a relative height and the height obtained by taking the sea level as a reference is an absolute height; Step 203: using the acceleration and angular velocity data output by the N inertial measurement components (IMUs), evaluating the availability and reliability of each inertial measurement component (IMU) by a voting method, isolating the output information of the untrusted inertial measurement component (IMU), fusing the output information of the trusted inertial measurement component (IMU) and the high-reliability height information, obtaining high-reliability acceleration and angular velocity information or obtaining velocity increments and angle increments, and then obtaining three-dimensional position, three-dimensional velocity and three-dimensional attitude information, wherein the position and velocity obtained by taking zero time as a reference are relative three-dimensional position and three-dimensional velocity, and the position and velocity obtained by taking the earth coordinate system as a reference are absolute three-dimensional position and three-dimensional velocity. Step 204: evaluate the continuity and availability of Beidou according to the information output by the Beidou receiver module, evaluate the information output by the Beidou receiver module based on continuous, available and reliable relative time information, highly reliable height information, three-dimensional position, three-dimensional speed and three-dimensional attitude information, and then output highly reliable position, speed and attitude information, specifically: when the information output by the Beidou receiver module is reliable, correct the crystal oscillator time based on the Beidou time, and form highly reliable absolute time information, at the same time, fuse the position, speed and attitude information output by the Beidou receiver module with the three-dimensional position, three-dimensional speed and three-dimensional attitude information to form highly reliable absolute position, absolute speed and absolute attitude information; when the information output by the Beidou system is not reliable, calculate the highly reliable relative position, relative speed and relative attitude information based on the highly reliable acceleration and angular velocity information and the highly reliable height information; Step 3 specifically includes: Step 301: time and space unification and consistency description calculation is performed on the information of the elastically accessed multi-source heterogeneous PNT component, forming time and space consistent angle measurement, relative position information, relative speed information, relative attitude information, acceleration, angular velocity, position, speed, attitude and distance measurement; Step 302: taking the reliable PNT original information, highly reliable position, speed and attitude information as reference information, analyzing the static error characteristics, dynamic error characteristics, environmental adaptability and motion adaptability of the multi-source heterogeneous PNT component information subjected to time and space unification and consistency description, establishing a multi-source heterogeneous PNT component information reliability evaluation model with the reference information as a reference, including a function model and a probability model, and then evaluating the reliability of the multi-source heterogeneous PNT component information; Step 303: isolate the unreliable multi-source heterogeneous PNT component information and restart the multi-source heterogeneous PNT component for reevaluation; perform multi-source heterogeneous PNT information elastic fusion on the reliable multi-source heterogeneous PNT component information to improve the continuity, availability and reliability of the component PNT terminal system.

2. A multi-source heterogeneous PNT component information trustworthiness assessment system, the system is used to implement the method of claim 1, characterized in that, It includes: A high-reliability core PNT component system construction module is used to construct a high-reliability core PNT component system based on N crystal oscillators, N inertial measurement components (IMUs), N barometers and a Beidou receiver module, where N≥3; An information calculation module is used to construct highly reliable PNT information based on the reliable PNT original information output by the high-reliability core PNT component system; and A reliability evaluation module is used to analyze the static error characteristics, dynamic error characteristics, environmental adaptability and motion adaptability of the multi-source heterogeneous PNT component information according to the highly reliable PNT information, and perform elastic fusion on the reliable multi-source heterogeneous PNT component information. The storage medium stores a computer program, and the computer program is executed by the processor to implement the method of claim 1.

3. An electronic device, comprising: The storage medium stores a computer program, and the computer program is executed by the processor to implement the method of claim 1.

4. A non-transitory computer-readable storage medium, comprising, ​

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