A method for selecting source of multi-type position information of laser inertial navigation display and control device

Abstract

The present invention discloses a method for selecting the source of multiple types of position information of a laser inertial navigation display and control device. The method first classifies multiple position information sources and sorts them according to priority. When the display and control device is started, the source is selected using a source selection strategy in which the information source priority is from high to low. After the display and control device is running, the optimized source selection strategy of not switching the information source when the current information source is not missing is used to switch the position information source, and whether to forward the position information after source selection to the inertial device is selected according to the type of the current information source. The method of the present invention makes up for the deficiency that the commonly used source selection method easily causes unstable source selection results, and plays a good role in maintaining the stability of the position information used by the inertial device.

Description

Technical Field

[0001] The invention relates to the field of laser inertial navigation, and in particular to a method for selecting sources of multi-type position information of a laser inertial navigation display and control device. Background Art

[0002] The laser inertial navigation equipment adopts a strapdown inertial navigation solution in which a laser gyroscope, a quartz flexible accelerometer and a carrier are relatively fixedly connected. It applies technologies such as dynamic initial alignment, single-axis rotation modulation, velocity damping, comprehensive correction, thermal / magnetic environment control and compensation, and shock resistance to form a high-precision inertial navigation device with a simple structure, high reliability and low maintenance cost.

[0003] The laser inertial navigation equipment is mainly composed of three parts: inertial device, display and control sending device and power supply device. Among them, the display and control sending device is responsible for all external communications and interface information processing. During the use of laser inertial navigation, it is necessary to receive external position information as reference information for equipment initial alignment, offshore alignment, position combination, comprehensive correction, etc. Taking a certain type of laser inertial navigation as an example, the external input position information is divided into multiple situations:

[0004] 1) Serial port measurement information directly connected to the satellite navigation system;

[0005] 2) Network measurement information of Satellite Guide 1;

[0006] 3) Network measurement information of Satellite Guide 2;

[0007] 4) Measured information of CAN interface of satellite guide 1;

[0008] 5) Measured information of CAN interface of Satellite Guide 2;

[0009] 6) Network simulation information of Satellite Guide 1;

[0010] 7) Network simulation information of Satellite Guide 2;

[0011] 8) CAN interface simulation information of satellite guide 1;

[0012] 9) CAN interface simulation information of Satellite Guide 2;

[0013] How the display and control sending device handles this multi-source external position information and how to send this information to the inertial device is a topic worth studying in depth. The common processing method is to set a specific priority and complete the source selection of the position source information according to the priority. However, this source selection method has certain disadvantages. For example, the measured information of the satellite navigation 1 network is higher than the measured information of the satellite navigation 2 network. However, when the satellite navigation 1 network has poor contact and is intermittent, the result is that the source selection result is also constantly switching between the measured information of the satellite navigation 1 network and the measured information of the satellite navigation 2 network, which in turn affects the use of the position information by the inertial device.

[0014] Based on this, this paper proposes a source selection method for multi-source position information of a laser inertial navigation display and control device, which is optimized on the basis of the original source selection strategy to avoid the occurrence of the above-mentioned problems. Summary of the invention

[0015] The main purpose of the present invention is to provide a method for selecting the source of multiple types of position information of a laser inertial navigation display and control device, which makes up for the instability of the source selection results caused by the commonly used source selection method, and plays a good role in maintaining the stability of the position information used by the inertial device. And this method can be extended to other similar source selection strategies that need to process the same type of data from multiple interfaces.

[0016] The technical solution adopted by the present invention is:

[0017] The present invention provides a method for selecting sources of multi-type position information of a laser inertial navigation display and control device, which is characterized in that N types of position information sources are processed according to the following steps:

[0018] S1. N types of position information sources are divided into measured information sources SR and simulated information sources SM according to the characteristics of the information sources;

[0019] S2. Prioritize the measured information source SR and the simulated information source SM according to the information source priority strategy to form a sequence of measured information sources S RS = {measured information source 1, measured information source 2, ..., measured information source p} and sequential simulated information source S MS ={simulated information source 1, simulated information source 2, ..., simulated information source q}, where p+q=N;

[0020] S3, according to the strategy that the priority of the sequential measured information source is higher than the priority of the sequential simulated information source, the sequential measured information source S RS and sequential simulation information source S MS Composition sequence position information source S N ={S RS , S MS}, and the sequence position information source S N As a source selection strategy when the display and control device is started;

[0021] S4. After the display and control equipment is running, the optimal source selection strategy is adopted to switch the location information source if the current information source is not missing and the information source is not switched. If the current information source belongs to the sequential measured information source S RS , the display and control device forwards the position information after source selection to the inertial device. If the current information source belongs to the sequential analog information source S MS When the display and control device selects the source, it will only display the location information without forwarding it.

[0022] In accordance with the above technical solution, the source selection strategy when the display control device is started refers to selecting the source S according to the sequence position information source S N The information sources in the system are selected in order from high priority to low priority. If an information source with a higher priority than the current information source is restored, the high priority information source is immediately switched back.

[0023] Following the above technical solution, the steps of adopting the optimization source selection strategy of not switching the information source when the current information source is not missing after the display control device is running are as follows:

[0024] S41. If the current information source is not missing, no information source switching is performed;

[0025] S42: If the current information source is missing, and if there is a restored information source with a higher priority than the current information source, the display control device switches the location information source to the restored information source with the highest priority;

[0026] S43: If the current information source is missing and there is no restored information source with a higher priority than the current information source, the display control device switches the location information source to a subsequent information source with a higher priority than the current information source.

[0027] The present invention also provides a source selection system for multiple types of position information of a laser inertial navigation display and control device, comprising:

[0028] An information source classification module is used to classify N types of position information sources into measured information sources SR and simulated information sources SM according to the characteristics of the information sources;

[0029] The priority sorting module is used to sort the measured information source SR and the simulated information source SM according to the information source priority strategy to form a sequence of measured information sources S RS = {measured information source 1, measured information source 2, ..., measured information source p} and sequential simulated information source S MS ={simulated information source 1, simulated information source 2, ..., simulated information source q}, where p+ = N;

[0030] The information source combination module is used to combine the sequential measured information sources S according to the priority strategy of sequential measured information sources over sequential simulated information sources. RS and sequential simulation information source S MS Composition sequence position information source S N ={S RS , S MS}, and the sequence position information source S N As a source selection strategy when the display and control device is started;

[0031] The display and control device processing module is used to switch the location information source after the display and control device is running, using the optimization source selection strategy of not switching the information source when the current information source is not missing. If the current information source belongs to the sequential measured information source SRS , the display and control device forwards the position information after source selection to the inertial device. If the current information source belongs to the sequential analog information source S MS When the display and control device selects the source, it will only display the location information without forwarding it.

[0032] In accordance with the above technical solution, the source selection strategy when the display control device is started refers to selecting the source S according to the sequence position information source S N The information sources in the system are selected in order from high priority to low priority. If an information source with a higher priority than the current information source is restored, the high priority information source is immediately switched back.

[0033] Following the above technical solution, the steps of the display and control device processing module in which the display and control device adopts the optimization source selection strategy of not switching the current information source when the current information source is not missing after operation are as follows:

[0034] S41. If the current information source is not missing, no information source switching is performed;

[0035] S42: If the current information source is missing, and if there is a restored information source with a higher priority than the current information source, the display control device switches the location information source to the restored information source with the highest priority;

[0036] S43: If the current information source is missing and there is no restored information source with a higher priority than the current information source, the display control device switches the location information source to a subsequent information source with a lower priority than the current information source.

[0037] The present invention also provides a laser inertial navigation display and control device, characterized in that it uses the source selection method of multiple types of position information of the laser inertial navigation display and control device described in the above technical solution to select the source.

[0038] The present invention also provides a computer storage medium, which stores a computer program that can be executed by a processor, and the computer program executes the method for selecting the source of multiple types of position information of the laser inertial navigation display and control device described in the above technical solution.

[0039] The beneficial effects of the present invention are as follows: a method for selecting a source of multiple types of position information of a laser inertial navigation display and control device provided by the present invention first classifies multiple position information sources and sorts them according to priority, and after the display and control device is running, an optimized source selection strategy of not switching the source when the current information source is not missing is adopted to switch the position information source, and whether to forward the position information after source selection to the inertial device is selected according to the type of the current information source. The method of the present invention makes up for the deficiency that the commonly used source selection method is prone to cause unstable source selection results, and plays a good role in maintaining the stability of the position information used by the inertial device. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 It is an overall flow chart of the source selection strategy of an embodiment of the present invention;

[0042] Figure 2 It is the source selection strategy when the display control device of the embodiment of the present invention is started;

[0043] Figure 3 It is a source selection strategy when the display control device of the embodiment of the present invention is running;

[0044] Figure 4 is a flow chart of a method for selecting source of location source information according to priority in an embodiment of the present invention;

[0045] Figure 5 is a schematic diagram of a source selection strategy proposed in an embodiment of the present invention;

[0046] Figure 6 It is a schematic diagram of a method for combining two source selection strategies in an embodiment of the present invention;

[0047] Figure 7 It is a schematic diagram of the structure of a source selection system for multiple types of position information of a laser inertial navigation display and control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0049] It should be noted that the illustrations provided in the embodiments of the present invention are only used to illustrate the basic concept of the present invention in a schematic manner. Therefore, the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout type may also be more complicated.

[0050] In the present invention, it is also necessary to explain that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, if the terms "first" and "second" appear, they are only used for description and distinction purposes, and cannot be understood as indicating or implying relative importance.

[0051] The present invention provides a method for selecting the source of multiple types of position information of a laser inertial navigation display and control device, such as Figure 1 As shown, for N types of location information sources, the following steps are performed:

[0052] S1. N types of position information sources are divided into measured information sources SR and simulated information sources SM according to the characteristics of the information sources;

[0053] S2. Prioritize the measured information source SR and the simulated information source SM according to the information source priority strategy to form a sequence of measured information sources S RS = {measured information source 1, measured information source 2, ..., measured information source p} and sequential simulated information source S MS ={simulated information source 1, simulated information source 2, ..., simulated information source q}, where p+q=N;

[0054] S3, according to the strategy that the priority of the sequential measured information source is higher than the priority of the sequential simulated information source, the sequential measured information source S RS and sequential simulation information source S MS Composition sequence position information source S N ={S RS , S MS}, and the sequence position information source S N As a source selection strategy when the display and control device is started;

[0055] S4. After the display and control equipment is running, the optimal source selection strategy is adopted to switch the location information source if the current information source is not missing and the information source is not switched. If the current information source belongs to the sequential measured information source S RS , the display and control device forwards the position information after source selection to the inertial device. If the current information source belongs to the sequential analog information source S MS When the display and control device selects the source, it will only display the location information without forwarding it.

[0056] Furthermore, if Figure 2 As shown, the source selection strategy when the display control device is started refers to the sequential position information source S NThe information sources in the system are selected in order from high priority to low priority. If an information source with a higher priority than the current information source is restored, the high priority information source is immediately switched back.

[0057] Furthermore, if Figure 3 As shown, after the display and control device is running, the steps of adopting the optimization source selection strategy of not switching the information source when the current information source is not missing are as follows:

[0058] S41. If the current information source is not missing, no information source switching is performed;

[0059] S42: If the current information source is missing, and if there is a restored information source with a higher priority than the current information source, the display control device switches the location information source to the restored information source with the highest priority;

[0060] S43: If the current information source is missing and there is no restored information source with a higher priority than the current information source, the display control device switches the location information source to a subsequent information source with a higher priority than the current information source.

[0061] Taking a certain type of laser inertial navigation as an example, the external input position information includes the following 9 information sources: serial port measured information directly connected to the satellite navigation, network measured information of satellite navigation 1, network measured information of satellite navigation 2, CAN interface measured information of satellite navigation 1, CAN interface measured information of satellite navigation 2, network simulation information of satellite navigation 1, network simulation information of satellite navigation 2, CAN interface simulation information of satellite navigation 1 and CAN interface simulation information of satellite navigation 2.

[0062] As a preferred embodiment, the nine information sources are first divided into the measured information sources S R and the simulated information source S m , and sort them in order of priority from high to low to form a sequential measured information source S RS = {serial port measured information of direct satellite guide, network measured information of satellite guide 1, network measured information of satellite guide 2, CAN interface measured information of satellite guide 1, CAN interface measured information of satellite guide 2} and sequential simulation information source S MS ={network simulation information of satellite guide 1, network simulation information of satellite guide 2, CAN interface simulation information of satellite guide 1, CAN interface simulation information of satellite guide 2}. Then, according to the strategy that the priority of the sequential measured information source is higher than the priority of the sequential simulation information source, the sequential measured information source S RS and sequential simulation information source S MS Composition sequence position information source S N={measured serial port information of direct-connected satellite guide, measured network information of satellite guide 1, measured network information of satellite guide 2, measured CAN interface information of satellite guide 1, measured CAN interface information of satellite guide 2, network simulation information of guide 1, network simulation information of satellite guide 2, simulated CAN interface information of satellite guide 1, simulated CAN interface information of satellite guide 2}.

[0063] Example 1

[0064] This embodiment selects the source of the location source information only based on the priority.

[0065] like Figure 4 As shown, taking the laser inertial navigation as an example, the serial port measured information directly connected to the satellite navigation is set to information A, the network measured information of satellite navigation 1 is set to information B, the network measured information of satellite navigation 2 is set to information C, and the CAN interface measured information of satellite navigation 1 is set to information D (the four types of information are used as examples for explanation here, and the actual situation is based on the actual situation). After the equipment is powered on, the source is selected in the order of information A>information B>information C>information D. During operation, as long as the high-priority information is restored, the high-priority information is selected regardless of whether the current priority information is normal.

[0066] That is, after the device is turned on, the sequential position information source S N ={serial port measured information of direct satellite guide, network measured information of satellite guide 1, network measured information of satellite guide 2, CAN interface measured information of satellite guide 1, CAN interface measured information of satellite guide 2, network simulation information of guide 1, network simulation information of satellite guide 2, CAN interface simulation information of satellite guide 1, CAN interface simulation information of satellite guide 2}. During operation, no matter which location information source is currently used, as long as there is a restored information source with a high priority, it will be switched to the restored information source with a high priority immediately.

[0067] This source selection method has certain disadvantages. For example, the measured information of the Satellite Navigation 1 network is higher than the measured information of the Satellite Navigation 2 network. However, when the contact of the Satellite Navigation 1 network is poor or intermittent, the result is that the source selection result is constantly switching between the measured information of the Satellite Navigation 1 network and the measured information of the Satellite Navigation 2 network, which in turn affects the inertial device's use of the position information.

[0068] Example 2

[0069] This embodiment adopts the optimized source selection strategy of not switching the information source when the current information source is not missing to select the source.

[0070] like Figure 5As shown, taking the laser inertial navigation as an example, the measured information of the serial port directly connected to the satellite navigation is set to information A, the measured information of the network of satellite navigation 1 is set to information B, the measured information of the network of satellite navigation 2 is set to information C, and the measured information of the CAN interface of satellite navigation 1 is set to information D (the four types of information are used as examples for explanation here, and the actual situation is based on the actual situation). After the equipment is powered on, the source is selected in the order of information A>information B>information C>information D. During operation, if high-priority information is restored, first determine whether the current priority information is normal. If normal, the current source selection result is still maintained. If the current priority information is abnormal and the high-priority information is restored, the high-priority information is selected.

[0071] That is, after the device is turned on, the sequential position information source S N ={serial port measured information of direct-connected satellite guide, network measured information of satellite guide 1, network measured information of satellite guide 2, CAN interface measured information of satellite guide 1, CAN interface measured information of satellite guide 2, network simulation information of guide 1, network simulation information of satellite guide 2, CAN interface simulation information of satellite guide 1, CAN interface simulation information of satellite guide 2}. During operation, first determine whether the current information source is missing. If it is missing, reselect the source. If the current information source is normal, continue to use the current information source. The source selection strategy when the current information source is missing is to first determine whether there is a high-priority restored information source. If so, switch to the high-priority restored information source. If not, select the subsequent low-priority information source. At the same time, a forwarding judgment is required, that is, the current information source belongs to the sequential real-time information source S RS The new information source needs to be forwarded to the inertial device, otherwise it will not be forwarded.

[0072] Example 3

[0073] This embodiment is a method of combining two source selection strategies.

[0074] like Figure 6 As shown, taking the laser inertial navigation as an example, the five types of information, namely, the measured information of the serial port of the direct-connected satellite navigation, the measured information of the network of satellite navigation 1, the measured information of the network of satellite navigation 2, the measured information of the CAN interface of satellite navigation 1, and the measured information of the CAN interface of satellite navigation 2, are measured information, and the source selection method proposed in Example 2 is adopted; the four types of information, namely, the network simulation information of satellite navigation 1, the network simulation information of satellite navigation 2, the simulated information of the CAN interface of satellite navigation 1, and the simulated information of the CAN interface of satellite navigation 2, are simulated information, and the source selection method proposed in Example 1 is adopted, and the source selection result will not be sent to the inertial device.

[0075] That is, as an optimal embodiment, the source selection strategy can be flexibly adopted according to the quality of the location information source signal. If the information source quality is relatively stable, priority can be used to complete the source selection of the location source information; if the signal quality is not very stable, an optimized source selection strategy can be adopted in which the current information source is not missing and the information source is not switched.

[0076] Taking laser inertial navigation as an example, the order of priority is sorted from high to low to form a sequential measured information source S RS = {serial port measured information of direct satellite guide, network measured information of satellite guide 1, network measured information of satellite guide 2, CAN interface measured information of satellite guide 1, CAN interface measured information of satellite guide 2} and sequential simulation information source S MS = {network simulation information of satellite guide 1, network simulation information of satellite guide 2, CAN interface simulation information of satellite guide 1, CAN interface simulation information of satellite guide 2}, sequential measured information source S RS The optimal source selection strategy is adopted when the current information source is not missing and the information source is not switched, and the sequential simulation information source S MS Priority is used to complete the source selection of location source information.

[0077] The present invention also provides a source selection system for multiple types of position information of a laser inertial navigation display and control device, such as Figure 7 As shown, it includes an information source classification module, a priority sorting module, an information source combination module and a display and control device processing module.

[0078] The information source classification module is mainly used to classify N types of position information sources into measured information sources SR and simulated information sources SM according to the characteristics of the information sources;

[0079] The priority sorting module is mainly used to sort the measured information source SR and the simulated information source SM according to the information source priority strategy to form a sequence of measured information sources S RS = {measured information source 1, measured information source 2, ..., measured information source p} and sequential simulated information source S MS ={simulated information source 1, simulated information source 2, ..., simulated information source q}, where p+q=N;

[0080] The information source combination module is mainly used to prioritize the sequential measured information source over the sequential simulated information source. RS and sequential simulation information source S MS Composition sequence position information source S N ={S RS , S MS}, and the sequence position information source S N As a source selection strategy when the display and control device is started;

[0081] The display and control device processing module is mainly used to switch the location information source after the display and control device is running, using the optimization source selection strategy of not switching the information source when the current information source is not missing. If the current information source belongs to the sequential measured information source S RS , the display and control device forwards the position information after source selection to the inertial device. If the current information source belongs to the sequential analog information source S MS When the display and control device selects the source, it will only display the location information without forwarding it.

[0082] Furthermore, the source selection strategy when the display control device is started refers to selecting the source S according to the sequence position information source S N The information sources in the system are selected in order from high priority to low priority. If an information source with a higher priority than the current information source is restored, the high priority information source is immediately switched back.

[0083] Furthermore, the steps of adopting the optimized source selection strategy of not switching the information source when the current information source is not missing after the display and control device in the display and control device processing module is running are as follows:

[0084] S41. If the current information source is not missing, no information source switching is performed;

[0085] S42: If the current information source is missing, and if there is a restored information source with a higher priority than the current information source, the display control device switches the location information source to the restored information source with the highest priority;

[0086] S43: If the current information source is missing and there is no restored information source with a higher priority than the current information source, the display control device switches the location information source to a subsequent information source with a lower priority than the current information source.

[0087] The present application also provides a computer-readable storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory (for example, an SD or DX memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a disk, an optical disk, a server, an App application store, etc., on which a computer program is stored, and the program realizes corresponding functions when executed by a processor. The computer-readable storage medium of this embodiment stores a computer program that can be executed by a processor, and the computer program executes the source selection method of multiple types of position information of the laser inertial navigation display and control device described in the above embodiment.

[0088] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, and two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0089] The order of execution of each step in the above embodiment does not mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0090] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A method for selecting the source of multiple types of position information of a laser inertial navigation display and control device, characterized in that: For N types of location information sources, the following steps are performed: S1. N types of position information sources are divided into measured information sources SR and simulated information sources SM according to the characteristics of the information sources; S2. Prioritize the measured information source SR and the simulated information source SM according to the information source priority strategy to form a sequence of measured information sources S RS = {measured information source 1, measured information source 2, ..., measured information source p} and sequential simulated information source S MS ={simulated information source 1, simulated information source 2, ..., simulated information source q}, where p+q=N; S3, according to the strategy that the priority of the sequential measured information source is higher than the priority of the sequential simulated information source, the sequential measured information source S RS and sequential simulation information source S MS Composition sequence position information source S N ={S RS , S MS }, and the sequence position information source S N As a source selection strategy when the laser inertial navigation display and control device is started; S4. After the laser inertial navigation display and control device is running, the optimal source selection strategy is adopted to switch the position information source if the current information source is not missing and the information source is not switched. If the current information source belongs to the sequential measured information source S RS , the laser inertial navigation display and control device forwards the position information after source selection to the inertial device. If the current information source belongs to the sequential analog information source S MS When the laser inertial navigation display and control device selects the source, it will only display the position information and will not forward it; The steps of adopting the optimization source selection strategy of not switching the information source when the current information source is not missing after the laser inertial navigation display and control device is running are as follows: S41. If the current information source is not missing, no information source switching is performed; S42, if the current information source is missing, if there is a restored information source with a higher priority than the current information source, the laser inertial navigation display and control device switches the position information source to the restored information source with the highest priority; S43, if the current information source is missing and there is no restored information source with a higher priority than the current information source, the laser inertial navigation display and control device switches the position information source to a subsequent information source with a lower priority than the current information source; The source selection strategy when the laser inertial navigation display and control device is started is to select the source according to the sequence position information source S N The information sources in the system are selected in order from high priority to low priority. If an information source with a higher priority than the current information source is restored, the high priority information source is immediately switched back.

2. A source selection system for multi-type position information of a laser inertial navigation display and control device, characterized in that: include: An information source classification module is used to classify N types of position information sources into measured information sources SR and simulated information sources SM according to the characteristics of the information sources; The priority sorting module is used to sort the measured information source SR and the simulated information source SM according to the information source priority strategy to form a sequence of measured information sources S RS = {measured information source 1, measured information source 2, ..., measured information source p} and sequential simulated information source S MS ={simulated information source 1, simulated information source 2, ..., simulated information source q}, where p+q=N; The information source combination module is used to combine the sequential measured information sources S according to the strategy of giving priority to sequential simulated information sources. RS and sequential simulation information source S MS Composition sequence position information source S N ={S RS , S MS }, and the sequence position information source S N As a source selection strategy when the laser inertial navigation display and control device is started; The laser inertial navigation display and control device processing module is used to switch the position information source after the laser inertial navigation display and control device is running, using the optimization source selection strategy of not switching the information source when the current information source is not missing. If the current information source belongs to the sequential measured information source S RS , the laser inertial navigation display and control device forwards the position information after source selection to the inertial device. If the current information source belongs to the sequential analog information source S MS When the laser inertial navigation display and control device selects the source, it will only display the position information and will not forward it; The steps of adopting the optimization source selection strategy of not switching the current information source when the laser inertial navigation display and control device in the laser inertial navigation display and control device processing module is running are as follows: S41. If the current information source is not missing, no information source switching is performed; S42, if the current information source is missing, if there is a restored information source with a higher priority than the current information source, the laser inertial navigation display and control device switches the position information source to the restored information source with the highest priority; S43, if the current information source is missing and there is no restored information source with a higher priority than the current information source, the laser inertial navigation display and control device switches the position information source to a subsequent information source with a lower priority than the current information source; The source selection strategy when the laser inertial navigation display and control device is started is to select the source according to the sequence position information source S N The information sources in the system are selected in order from high priority to low priority. If an information source with a higher priority than the current information source is restored, the high priority information source is immediately switched back.

3. A laser inertial navigation display and control device, characterized in that: It uses the source selection method of multiple types of position information of the laser inertial navigation display and control device described in claim 1 to select the source.

4. A computer storage medium, characterized in that: A computer program executable by a processor is stored therein, and the computer program executes the source selection method of multiple types of position information of the laser inertial navigation display and control device as described in claim 1.

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