CN107270943A - A kind of accuracy assessment of inertial measurement system method of related bidimensional - Google Patents
A kind of accuracy assessment of inertial measurement system method of related bidimensional Download PDFInfo
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Abstract
The invention discloses a kind of accuracy assessment of inertial measurement system method of related bidimensional.This method includes：Transverse position error and lengthwise position error of the actual falling point position relative to target drop point site are determined, to obtain predetermined number transverse position error and predetermined number lengthwise position error；The standard deviation α of the predetermined number transverse position error and the standard deviation β of the predetermined number lengthwise position error are calculated, and calculates standard deviation α and standard deviation β correlation coefficient ρ；According to standard deviation α and correlation coefficient ρ, lateral error accuracy evaluation factor e is calculated1；According to standard deviation β and correlation coefficient ρ, longitudinal error accuracy evaluation factor e is calculated2；According to e1And e2, inertial navigation impact accuracy is estimated.The present invention is realized in the case of horizontal and vertical related bidimensional, the purpose being estimated to inertial navigation impact accuracy.
Description
Technical field
The present invention relates to inertial navigation system accuracy evaluation technology, more particularly to a kind of inertial navigation drop point of related bidimensional
Precision assessment method.
Background technology
At present, the balancing method of inertial navigation impact accuracy includes circular proable error impact accuracy appraisal procedure CEP
(Circular Error Probability) and uncorrelated two-dimentional impact accuracy appraisal procedure.Circular proable error impact accuracy
Appraisal procedure is a kind of simple impact accuracy appraisal procedure, and it leads using theoretical position as the center of circle around the center of circle comprising 50%
The distance for playing bullet point of impact is radius of circle, sets up Accuracy extimate circle to be estimated impact accuracy.Uncorrelated two-dimentional falls
Point precision assessment method is improved on the basis of circular proable error impact accuracy appraisal procedure, the main solution standard such as by no means
In the case of error, uncorrelated two-dimentional impact accuracy evaluation problem.
However, circular proable error impact accuracy appraisal procedure for standard error it is equal when effect preferably, can be in standard error
When difference is not waited, there is relatively large deviation using circular proable error impact accuracy appraisal procedure, it is not reasonable；Uncorrelated two-dimentional drop point
Precision assessment method does not take into full account the influence of coefficient correlation, when horizontal and vertical influence each other, it is impossible to very
Good solution impact accuracy evaluation problem.It can be seen that, either circular proable error impact accuracy appraisal procedure, or uncorrelated two dimension
Impact accuracy appraisal procedure can not solve related bidimensional in the case of, to asking that inertial navigation impact accuracy is estimated
Topic.
The content of the invention
Present invention solves the technical problem that being：Fall compared to prior art there is provided a kind of inertial navigation of related bidimensional
Point precision assessment method, realizes in the case of horizontal and vertical related bidimensional, inertial navigation impact accuracy is estimated
Purpose.
The above-mentioned purpose of the present invention is achieved by the following technical programs：
The invention provides a kind of accuracy assessment of inertial measurement system method of related bidimensional, comprise the following steps：
According to predetermined target drop point site and predetermined number actual falling point position, using the target drop point site as original
Point sets up rectangular coordinate system, it is determined that transverse position error of each actual falling point position relative to the target drop point site
With lengthwise position error, to obtain predetermined number transverse position error and predetermined number lengthwise position error；
Calculate the standard deviation α and the predetermined number lengthwise position error of the predetermined number transverse position error
Standard deviation β, and calculate the standard deviation α and the standard deviation β correlation coefficient ρ；
According to the standard deviation α and the correlation coefficient ρ, lateral error accuracy evaluation factor e is calculated1；According to the mark
Quasi- difference β and the correlation coefficient ρ, calculate longitudinal error accuracy evaluation factor e2；
According to the lateral error accuracy evaluation factor e1With the longitudinal error accuracy evaluation factor e2, to inertial navigation
Impact accuracy is estimated.
Further, it is determined that transverse position error of each actual falling point position relative to the target drop point site
With lengthwise position error, including：
In the rectangular coordinate system set up by origin of target drop point site, if the coordinate of actual falling point position is (x, y),
Then determine that the actual falling point position (x, y) is relative to the transverse position error of the target drop point site | x |, it is determined that described
Actual falling point position (x, y) is relative to the lengthwise position error of the target drop point site | y |.
Further, the lateral error accuracy evaluation factor e1Calculation formula be：
In formula (1), e1Represent the lateral error accuracy evaluation factor；α represents the predetermined number transverse position error
Standard deviation；ρ represents standard deviation α and standard deviation β coefficient correlation.
Further, the longitudinal error accuracy evaluation factor e2Calculation formula be：
In formula (2), e2Represent the longitudinal error accuracy evaluation factor；β represents the predetermined number lengthwise position error
Standard deviation；ρ represents standard deviation α and standard deviation β coefficient correlation.
Further, according to the lateral error accuracy evaluation factor e1With the longitudinal error accuracy evaluation factor e2, it is right
Inertial navigation impact accuracy is estimated, including：
Point sets up impact accuracy and assesses oval centered on the target drop point site, and the impact accuracy is assessed oval
Major semiaxis is the lateral error accuracy evaluation factor e1, it is the longitudinal error that the impact accuracy, which assesses oval semi-minor axis,
Accuracy evaluation factor e2, when the actual falling point position assesses oval internal in the impact accuracy, evaluation is described actually to fall
The precision of point position is qualified.
The present invention has the advantages that compared with prior art：
The present invention has taken into full account coefficient correlation for inertial navigation drop point in the case of horizontal and vertical related bidimensional
The influence of accuracy evaluation, by using the standard deviation of transverse position error, the standard deviation of lengthwise position error and correlation coefficient ρ,
Inertial navigation system impact accuracy is estimated；According to lateral error accuracy evaluation factor e1With longitudinal error accuracy evaluation
Factor e2, inertial navigation impact accuracy is estimated, the position of actual falling point spatially more can be reasonably and accurately assessed
Put precision；Realize in the case of horizontal and vertical related bidimensional, the purpose being estimated to inertial navigation impact accuracy.
Brief description of the drawings
Fig. 1 is a kind of flow chart of the accuracy assessment of inertial measurement system method of related bidimensional in the embodiment of the present invention；
Fig. 2 is that the impact accuracy in the embodiment of the present invention assesses oval schematic diagram.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that described herein
Specific embodiment be used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, for the ease of
Description, part related to the present invention rather than entire infrastructure are illustrate only in accompanying drawing.
Fig. 1 is a kind of flow chart of the accuracy assessment of inertial measurement system method of related bidimensional in the embodiment of the present invention.
With reference to Fig. 1, the present embodiment provide a kind of related bidimensional accuracy assessment of inertial measurement system method can specifically include it is as follows
Step：
S110, according to predetermined target drop point site and predetermined number actual falling point position, with target drop point position
It is set to origin and sets up rectangular coordinate system, it is determined that horizontal position of each actual falling point position relative to the target drop point site
Error and lengthwise position error are put, to obtain predetermined number transverse position error and predetermined number lengthwise position error.
Specifically, in the present embodiment, the predetermined number can be S, and S is the positive integer more than zero.According to predetermined
Target drop point site and S actual falling point position, set up rectangular coordinate system by origin (0,0) of target drop point site, it is determined that
Each actual falling point position relative to target drop point site transverse position error and lengthwise position error, to obtain S transverse direction
Site error and S lengthwise position error.
Optionally, it is determined that each actual falling point position relative to the target drop point site transverse position error and
Lengthwise position error, including：
In the rectangular coordinate system set up by origin of target drop point site, if the coordinate of actual falling point position is (x, y),
Then determine that the actual falling point position (x, y) is relative to the transverse position error of the target drop point site | x |, it is determined that described
Actual falling point position (x, y) is relative to the lengthwise position error of the target drop point site | y |.Wherein, | x | expression takes horizontal seat
X absolute value is marked, | y | represent to take ordinate y absolute value.
For example, in the rectangular coordinate system set up using target drop point site as origin (0,0), if the seat of actual falling point position
It is designated as (380,90), it is determined that actual falling point position (380,90) are relative to the transverse position error of target drop point site | 380
|=380, determine that actual falling point position (380,90) is relative to the lengthwise position error of target drop point site | 90 |=90.Again
For example, in the rectangular coordinate system set up using target drop point site as origin (0,0), if the coordinate of actual falling point position for (-
240,30), it is determined that actual falling point position (- 240,30) are relative to the transverse position error of target drop point site | -240 |=
240, determine that actual falling point position (- 240,30) is relative to the lengthwise position error of target drop point site | 30 |=30.
S120, the standard deviation α and the predetermined number lengthwise position for calculating the predetermined number transverse position error
The standard deviation β of error, and calculate the standard deviation α and the standard deviation β correlation coefficient ρ.
Specifically, in the present embodiment, the standard deviation α for the S transverse position error that calculation procedure S110 is determined, and calculate step
The standard deviation β for the S lengthwise position error that rapid S110 is determined.After standard deviation α and standard deviation β is determined, calculate standard deviation α and
Standard deviation β correlation coefficient ρ.
S130, according to the standard deviation α and the correlation coefficient ρ, calculate lateral error accuracy evaluation factor e1；According to institute
Standard deviation β and the correlation coefficient ρ are stated, longitudinal error accuracy evaluation factor e is calculated2。
Specifically, the lateral error accuracy evaluation factor e1Calculation formula can be：
In formula (1), e1Represent the lateral error accuracy evaluation factor；α represents the predetermined number transverse position error
Standard deviation；ρ represents standard deviation α and standard deviation β coefficient correlation.
Specifically, the longitudinal error accuracy evaluation factor e2Calculation formula can be：
In formula (2), e2Represent the longitudinal error accuracy evaluation factor；β represents the predetermined number lengthwise position error
Standard deviation；ρ represents standard deviation α and standard deviation β coefficient correlation.
S140, according to the lateral error accuracy evaluation factor e1With the longitudinal error accuracy evaluation factor e2, to inertia
Navigation impact accuracy is estimated.
Specifically, according to the lateral error accuracy evaluation factor e1With the longitudinal error accuracy evaluation factor e2, to used
Property navigation impact accuracy be estimated, can include：
Point sets up impact accuracy and assesses oval centered on the target drop point site, and the impact accuracy is assessed oval
Major semiaxis is the lateral error accuracy evaluation factor e1, it is the longitudinal error that the impact accuracy, which assesses oval semi-minor axis,
Accuracy evaluation factor e2, when the actual falling point position assesses oval internal in the impact accuracy, evaluation is described actually to fall
The precision of point position is qualified.
Embodiment
In certain impact accuracy of guided missile is assessed, 1000 actual falling point positions are gathered, with predetermined target drop point position
It is set to origin (0,0) and sets up rectangular coordinate system, it is determined that transverse direction of each actual falling point position relative to the target drop point site
Site error and lengthwise position error, to obtain 1000 transverse position errors and 1000 lengthwise position errors.
The standard deviation α of 1000 transverse position errors and the standard deviation β of 1000 lengthwise position errors are calculated,
And calculate the standard deviation α and the standard deviation β correlation coefficient ρ.
According to the standard deviation α and the correlation coefficient ρ, lateral error accuracy evaluation factor e is calculated1, specifically, described
Lateral error accuracy evaluation factor e1Calculation formula be：
According to the standard deviation β and the correlation coefficient ρ, longitudinal error accuracy evaluation factor e is calculated2, specifically, described
Longitudinal error accuracy evaluation factor e2Calculation formula be：
It is computed, lateral error accuracy evaluation factor e1=454.742, longitudinal error accuracy evaluation factor e2=
113.685。
Point sets up impact accuracy and assesses oval centered on target drop point site, and the impact accuracy assesses oval length half
Axle is lateral error accuracy evaluation factor e1, it is the longitudinal error accuracy evaluation factor that the impact accuracy, which assesses oval semi-minor axis,
e2, in the present embodiment, e1=454.742, e2=113.685, as shown in Figure 2；When actual falling point position is commented in the impact accuracy
When estimating inside ellipse, the precision of evaluation actual falling point position is qualified.
The technical scheme of the present embodiment in the case of horizontal and vertical related bidimensional, taken into full account coefficient correlation for
The influence of accuracy assessment of inertial measurement system, by using the standard deviation of transverse position error, the standard deviation of lengthwise position error
And correlation coefficient ρ, inertial navigation system impact accuracy is estimated；According to lateral error accuracy evaluation factor e1And longitudinal direction
Error precision evaluation factor e2, inertial navigation impact accuracy is estimated, spatially more can reasonably and accurately be assessed
The positional precision of actual falling point；Realize in the case of horizontal and vertical related bidimensional, inertial navigation impact accuracy is carried out
The purpose of assessment.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art it is various it is obvious change,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although the present invention is carried out by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other more equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (5)
1. a kind of accuracy assessment of inertial measurement system method of related bidimensional, it is characterised in that comprise the following steps：
According to predetermined target drop point site and predetermined number actual falling point position, built using the target drop point site as origin
Vertical rectangular coordinate system, it is determined that each actual falling point position is relative to the transverse position error of the target drop point site and vertical
To site error, to obtain predetermined number transverse position error and predetermined number lengthwise position error；
Calculate the standard deviation α of the predetermined number transverse position error and the standard of the predetermined number lengthwise position error
Poor β, and calculate the standard deviation α and the standard deviation β correlation coefficient ρ；
According to the standard deviation α and the correlation coefficient ρ, lateral error accuracy evaluation factor e is calculated1；According to the standard deviation β
With the correlation coefficient ρ, longitudinal error accuracy evaluation factor e is calculated2；
According to the lateral error accuracy evaluation factor e1With the longitudinal error accuracy evaluation factor e2, to inertial navigation drop point
Precision is estimated.
2. according to the method described in claim 1, it is characterised in that it is determined that each actual falling point position is relative to the mesh
The transverse position error and lengthwise position error of drop point site are marked, including：
In the rectangular coordinate system set up by origin of target drop point site, if the coordinate of actual falling point position is (x, y), then really
Determine the actual falling point position (x, y) is relative to the transverse position error of the target drop point site | x |, determine the reality
Drop point site (x, y) is relative to the lengthwise position error of the target drop point site | y |.
3. according to the method described in claim 1, it is characterised in that the lateral error accuracy evaluation factor e1Calculation formula
For：
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4. according to the method described in claim 1, it is characterised in that the longitudinal error accuracy evaluation factor e2Calculation formula
For：
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5. according to the method described in claim 1, it is characterised in that according to the lateral error accuracy evaluation factor e1With it is described
Longitudinal error accuracy evaluation factor e2, inertial navigation impact accuracy is estimated, including：
Point sets up impact accuracy and assesses oval centered on the target drop point site, and the impact accuracy assesses oval length half
Axle is the lateral error accuracy evaluation factor e1, it is the longitudinal error precision that the impact accuracy, which assesses oval semi-minor axis,
Evaluation factor e2, when the actual falling point position assesses oval internal in the impact accuracy, evaluate the actual falling point position
The precision put is qualified.
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Cited By (4)
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| CN108458727A (en) * | 2018-02-11 | 2018-08-28 | 北京航天控制仪器研究所 | Ballistic missile inertial measurement system precision index self-adapting distribution method and system |
| CN108519104A (en) * | 2018-02-11 | 2018-09-11 | 北京航天控制仪器研究所 | The method of estimation and system of three parameter ellipse probable errors description navigation impact accuracy |
| CN110186483A (en) * | 2019-06-25 | 2019-08-30 | 北京航天控制仪器研究所 | The method for improving inertial guidance spacecraft impact accuracy |
| CN110186482A (en) * | 2019-06-25 | 2019-08-30 | 北京航天控制仪器研究所 | A method of improving the impact accuracy of inertial guidance spacecraft |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108458727A (en) * | 2018-02-11 | 2018-08-28 | 北京航天控制仪器研究所 | Ballistic missile inertial measurement system precision index self-adapting distribution method and system |
| CN108519104A (en) * | 2018-02-11 | 2018-09-11 | 北京航天控制仪器研究所 | The method of estimation and system of three parameter ellipse probable errors description navigation impact accuracy |
| CN108519104B (en) * | 2018-02-11 | 2020-12-18 | 北京航天控制仪器研究所 | Estimation method and system for describing navigation drop point precision by three-parameter ellipse probability error |
| CN110186483A (en) * | 2019-06-25 | 2019-08-30 | 北京航天控制仪器研究所 | The method for improving inertial guidance spacecraft impact accuracy |
| CN110186482A (en) * | 2019-06-25 | 2019-08-30 | 北京航天控制仪器研究所 | A method of improving the impact accuracy of inertial guidance spacecraft |
| CN110186483B (en) * | 2019-06-25 | 2020-09-18 | 北京航天控制仪器研究所 | Method for improving drop point precision of inertia guidance spacecraft |
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