Radial Positioning Error Evaluation Method for Spatially Stabilized Inertial Navigation System

Abstract

The present application belongs to the field of inertial navigation technology, and specifically discloses a method for evaluating the radial positioning error of a space-stabilized inertial navigation system. The present application scheme first obtains multiple groups of radial positioning errors of the space-stabilized inertial navigation system; then, based on the multiple groups of radial positioning errors, the standard deviation of the equivalent gyro bias of the space-stabilized inertial navigation system is derived; then, the standard deviation of the equivalent gyro bias is used as a parameter of a radial positioning error probability distribution model; finally, the radial positioning error is evaluated based on the radial positioning error probability distribution model. The present application constructs a probability distribution model of the radial positioning error of the space-stabilized inertial navigation system, and based on the model, the mean, standard deviation and root mean square of the radial positioning error over time can be obtained. It is extremely important to evaluate the accuracy of the radial positioning error of a space-stabilized long-endurance inertial navigation system, and has strong engineering application value.

Description

Technical Field

[0001] The present application belongs to the field of inertial navigation technology, and more specifically, relates to a radial positioning error evaluation method for a spatially stabilized inertial navigation system. Background Art

[0002] Currently, the calculation of positioning accuracy metrics for inertial navigation systems (INS) does not differentiate between different INS types. In fact, the errors of inertial instruments used in different INS types, acting on the same error model, will result in different error propagation characteristics. This ultimately depends on the choice of measurement reference coordinate system. Currently, long-endurance INS in practical use are mainly divided into spatially stabilized INS and locally stabilized north-pointing INS. The difference between the two lies in the different reference coordinate systems used for gyroscope measurement. Because the gyroscopes of spatially stabilized INS cannot exert torque, the measurement reference coordinate system is the inertial coordinate system, while the gyroscopes of locally stabilized north-pointing INS use the geographic coordinate system. Therefore, different calculation schemes should be used for calculating positioning accuracy metrics for spatially stabilized INS and locally stabilized north-pointing INS.

[0003] Existing INS radial positioning error accuracy assessment methods are all proposed for local horizontally stabilized north-pointing INS. Directly applying them to the positioning error assessment of spatially stabilized INS is not accurate enough. Summary of the Invention

[0004] In response to the above-mentioned defects or improvement needs of the existing technology, the present application provides a radial positioning error evaluation method for a space-stabilized inertial navigation system, which aims to solve the technical problem that the error evaluation method of the existing space-stabilized inertial navigation system is not accurate enough.

[0005] To achieve the above objectives, in a first aspect, the present application provides a radial positioning error evaluation method for a spatially stabilized inertial navigation system. The radial positioning error evaluation method comprises:

[0006] Obtain multiple sets of radial positioning errors of a spatially stabilized inertial navigation system;

[0007] Derived the standard deviation of the equivalent gyro bias of the spatially stabilized inertial navigation system based on the multiple groups of radial positioning errors;

[0008] Using the standard deviation of the equivalent gyro bias as a parameter of a radial positioning error probability distribution model;

[0009] The radial positioning error is evaluated based on the radial positioning error probability distribution model.

[0010] Preferably, the standard deviation of the equivalent gyro bias of the space-stabilized inertial navigation system is derived based on the multiple groups of radial positioning errors, specifically: all radial positioning errors are sorted according to the time axis, and the average error value at each moment is calculated; based on the average error value at each moment, the linear coefficient of the error average value and the time series is obtained; the linear coefficient is the standard deviation of the equivalent gyro bias.

[0011] Preferably, the standard deviation of the equivalent gyro bias for:

[0012]

[0013] in, For the The average time error, Indicates a total of A moment, is pi.

[0014] Preferably, the radial positioning error is evaluated based on the radial positioning error probability distribution model. Momentary radial positioning error The probability density of for:

[0015]

[0016] in, is the standard deviation of the equivalent gyro bias, is the base of natural logarithms.

[0017] Preferably, the radial positioning error is evaluated based on the radial positioning error probability distribution model. Momentary radial positioning error Cumulative distribution of for:

[0018]

[0019] in, is the standard deviation of the equivalent gyro bias, is the base of natural logarithms.

[0020] Preferably, the radial positioning error is evaluated based on the radial positioning error probability distribution model. Momentary radial positioning error The mean for:

[0021]

[0022] in, is the standard deviation of the equivalent gyro bias, is pi.

[0023] Preferably, the radial positioning error is evaluated based on the radial positioning error probability distribution model. Momentary radial positioning error Standard deviation for:

[0024]

[0025] in, is the standard deviation of the equivalent gyro bias, is pi.

[0026] Preferably, the radial positioning error is evaluated based on the radial positioning error probability distribution model. Momentary radial positioning error RMS for:

[0027]

[0028] in, is the standard deviation of the equivalent gyro bias, is pi.

[0029] In a second aspect, the present application provides an electronic device comprising: at least one memory for storing programs; and at least one processor for executing the programs stored in the memory. When the program stored in the memory is executed, the processor is used to execute the method described in the first aspect or any possible implementation of the first aspect.

[0030] In a third aspect, the present application provides a computer-readable storage medium storing a computer program. When the computer program runs on a processor, the processor executes the method described in the first aspect or any possible implementation of the first aspect.

[0031] In general, the above technical solutions conceived by this application have the following beneficial effects compared with the existing technologies:

[0032] This application constructs a probability distribution model for the radial positioning error of a space-stabilized inertial navigation system. Based on this model, the mean, standard deviation, and root mean square (RMS) of the radial positioning error over time can be obtained. This is extremely important for the accuracy assessment of the radial positioning error of space-stabilized long-endurance inertial navigation systems and has strong engineering application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a flow chart of a radial positioning error evaluation method for a spatially stabilized inertial navigation system provided in an embodiment of the present application.

[0034] Figure 2 This is the probability density function graph of the radial positioning error changing with time obtained by performing 10,000 Monte Carlo simulations under static base conditions.

[0035] Figure 3 is the probability density function graph of the radial positioning error on the 1st, 2nd, 3rd, 4th and 5th days.

[0036] Figure 4 This is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0038] The terms "first" and "second" in this specification and claims are used to distinguish different objects rather than to describe a specific order of objects. For example, "first response message" and "second response message" are used to distinguish different response messages rather than to describe a specific order of response messages.

[0039] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0040] In the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more, for example, multiple processing units means two or more processing units, etc.; multiple elements means two or more elements, etc.

[0041] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0042] Embodiment 1:

[0043] like Figure 1 FIG. 1 is a flow chart of a method for evaluating radial positioning error of a spatially stabilized inertial navigation system according to an embodiment of the present application. The method specifically includes the following steps:

[0044] (1) Obtain multiple sets of radial positioning errors of a spatially stabilized inertial navigation system;

[0045] In the embodiment, a total of Independent set of radial positioning error data:

[0046]

[0047] The unit of error is meter.

[0048] (2) deriving the standard deviation of the equivalent gyro bias of the spatially stabilized inertial navigation system based on the multiple sets of radial positioning errors; specifically comprising the following sub-steps:

[0049] (21) Sort all radial positioning errors by time axis;

[0050] The length of each set of radial positioning error data time series is Seconds, Group radial positioning error data Sorted by time axis:

[0051]

[0052] (22) Calculate the average error at each moment, Average radial positioning error in seconds for:

[0053]

[0054] (23) Obtain the average error value and the linear coefficient of the time series based on the average error value at each moment :

[0055]

[0056] in, For the The average error in seconds, Indicates a total of Second, is pi, and the linear coefficient is the standard deviation of the equivalent gyro bias.

[0057] (3) Using the standard deviation of the equivalent gyro bias as a parameter of the radial positioning error probability distribution model;

[0058] (4) Evaluate the radial positioning error based on the radial positioning error probability distribution model.

[0059] (41) No. Second radial positioning error The probability density of for:

[0060]

[0061] in, is the standard deviation of the equivalent gyro bias, is the base of natural logarithms.

[0062] (42) No. Second radial positioning error Cumulative distribution of for:

[0063]

[0064] in, is the standard deviation of the equivalent gyro bias, is the base of natural logarithms.

[0065] (43) No. Second radial positioning error The mean for:

[0066]

[0067] in, is the standard deviation of the equivalent gyro bias, is pi.

[0068] (44) No. Second radial positioning error Standard deviation for:

[0069]

[0070] in, is the standard deviation of the equivalent gyro bias, is pi.

[0071] (45) No. Second radial positioning error RMS for:

[0072]

[0073] in, is the standard deviation of the equivalent gyro bias, is pi.

[0074] The technical effects of the technical solution of this application are verified through simulation experiments:

[0075] For a space-stabilized long-duration inertial navigation system, it is difficult to obtain a large number of test samples for verification. Therefore, in this application, the correctness of the invention is verified by Monte Carlo simulation. In the simulation test of the space-stabilized inertial navigation system, the standard deviation of the gyro bias is set. , 10,000 Monte Carlo tests were conducted under static base conditions. The probability density surface of the radial error changing with time under static base conditions is shown as follows: Figure 2 The probability density curves of the 1st, 2nd, 3rd, 4th and 5th days and the probability density curves of the probability distribution of this application are shown as follows. Figure 3 As shown. Figure 2 and Figure 3 It can be seen from the figure that under the condition of a static base, the probability distribution of the radial positioning error of the spatially stabilized inertial navigation system is basically consistent with the probability distribution model (Rayleigh distribution model) proposed in this application.

[0076] It shows that the probability distribution model (Rayleigh distribution) proposed in this application can be used as the probability distribution model of the radial positioning error of the space-stabilized inertial navigation system, where the standard deviation of the equivalent gyro bias of the space-stabilized inertial navigation system is the parameter of the probability distribution model (Rayleigh distribution) proposed in this application.

[0077] This application constructs a probability distribution model for the radial positioning error of a space-stabilized inertial navigation system. Based on this model, the mean, standard deviation, and root mean square (RMS) of the radial positioning error over time can be obtained. This is extremely important for the accuracy assessment of the radial positioning error of space-stabilized long-endurance inertial navigation systems and has strong engineering application value.

[0078] Based on the method in the above embodiment, Figure 4 As shown, an embodiment of the present application provides an electronic device that may include: a processor, a communications interface, a memory, and a communication bus, wherein the processor, the communications interface, and the memory communicate with each other via the communication bus. The processor may call logic instructions in the memory to execute the method in the above embodiment.

[0079] In addition, the logical instructions in the above-mentioned memory can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the existing technology, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application.

[0080] Based on the method in the above embodiment, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method in the above embodiment.

[0081] Based on the method in the above embodiment, an embodiment of the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method in the above embodiment.

[0082] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0083] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and storage medium can be located in an ASIC.

[0084] The above embodiments can be implemented in whole or in part using software, hardware, firmware, or any combination thereof. When implemented using software, they can be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions. When loaded and executed on a computer, the computer program instructions fully or partially produce the processes or functions described in the embodiments of this application. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted via the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be magnetic media (e.g., floppy disk, hard disk, tape), optical media (e.g., DVD), or semiconductor media (e.g., solid-state drive (SSD)).

[0085] It will be understood that the various numerical numbers involved in the embodiments of the present application are merely distinctions for the convenience of description and are not intended to limit the scope of the embodiments of the present application.

[0086] It is easy for those skilled in the art to understand that the above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A radial positioning error evaluation method for a spatially stabilized inertial navigation system, characterized in that: The radial positioning error evaluation method comprises: Obtain multiple sets of radial positioning errors of a spatially stabilized inertial navigation system; Derived the standard deviation of the equivalent gyro bias of the spatially stabilized inertial navigation system based on the multiple groups of radial positioning errors; Using the standard deviation of the equivalent gyro bias as a parameter of a radial positioning error probability distribution model; The radial positioning error is evaluated based on the radial positioning error probability distribution model; the standard deviation of the equivalent gyro bias for: in, For the The radial positioning error at the moment, For the The average time error, Indicates a total of A moment, is pi.

2. The radial positioning error evaluation method according to claim 1, characterized in that: The standard deviation of the equivalent gyro bias of the space-stabilized inertial navigation system is derived based on the multiple groups of radial positioning errors, specifically: all radial positioning errors are sorted according to the time axis, and the average error value at each moment is calculated; based on the average error value at each moment, the linear coefficient of the error average and the time series is obtained; the linear coefficient is the standard deviation of the equivalent gyro bias.

3. The radial positioning error evaluation method according to claim 1, characterized in that: The radial positioning error is evaluated based on the radial positioning error probability distribution model. Momentary radial positioning error The probability density of for: in, is the standard deviation of the equivalent gyro bias, is the base of natural logarithms.

4. The radial positioning error evaluation method according to claim 1, characterized in that: The radial positioning error is evaluated based on the radial positioning error probability distribution model. Momentary radial positioning error Cumulative distribution of for: in, is the standard deviation of the equivalent gyro bias, is the base of natural logarithms.

5. The radial positioning error evaluation method according to claim 1, characterized in that: The radial positioning error is evaluated based on the radial positioning error probability distribution model. Momentary radial positioning error The mean for: in, is the standard deviation of the equivalent gyro bias, is pi.

6. The radial positioning error evaluation method according to claim 1, characterized in that: The radial positioning error is evaluated based on the radial positioning error probability distribution model. Momentary radial positioning error Standard deviation for: in, is the standard deviation of the equivalent gyro bias, is pi.

7. The radial positioning error evaluation method according to claim 1, characterized in that: The radial positioning error is evaluated based on the radial positioning error probability distribution model. Momentary radial positioning error RMS for: in, is the standard deviation of the equivalent gyro bias, is pi.

8. An electronic device, characterized in that: include: at least one memory for storing a computer program; At least one processor is used to execute the program stored in the memory. When the program stored in the memory is executed, the processor is used to execute the method according to any one of claims 1 to 7.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed on a processor, the processor is caused to execute the method according to any one of claims 1 to 7.

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