CN107677290A - The method of testing and device of inertial navigation system accuracy assessment - Google Patents

The method of testing and device of inertial navigation system accuracy assessment Download PDF

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CN107677290A
CN107677290A CN201710719078.2A CN201710719078A CN107677290A CN 107677290 A CN107677290 A CN 107677290A CN 201710719078 A CN201710719078 A CN 201710719078A CN 107677290 A CN107677290 A CN 107677290A
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confidence
limit value
testing time
confidence level
distribution function
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CN107677290B (en
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杨功流
王丹
王丽芬
蔡庆中
王帅
涂勇强
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Xiamen Tianyu Fengrong Technology Co.,Ltd.
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Beihang University
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    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract

The invention provides a kind of method of testing and device of inertial navigation system accuracy assessment, by receiving condition confidence level and default conclusion confidence level under current test strip part, calculate the ratio of the conclusion confidence level and condition confidence level, obtain the sample confidence level, according to the sample confidence level and the probability-distribution function of preset kind, obtain the relation curve of each testing time and corresponding confidence limit value, target detection number is determined according to the target confidence limit value of reception and the relation curve, so as to the condition confidence level according to current test strip part, default conclusion confidence level, the probability-distribution function of preset kind and the target confidence limit value of reception, it is determined that the target detection number that can be most matched with the test of this inertial navigation system accuracy assessment, and then the confidence level of test result is effectively ensured.

Description

The method of testing and device of inertial navigation system accuracy assessment
Technical field
The present invention relates to navigation system technology, more particularly to a kind of method of testing and dress of inertial navigation system accuracy assessment Put.
Background technology
Inertial navigation system is the prime navaid equipment and attitude reference equipment of all kinds of carriers such as naval vessel, aircraft, guided missile. In order to accurately know the performance of inertial navigation system, accuracy assessment is carried out to inertial navigation system and put into as inertial navigation system Indispensable link before use.
In general, in order to ensure to obtain genuine and believable test result, inertial navigation system can repeat multiple fine Degree evaluation.But in the test process of existing inertial navigation system accuracy assessment, the determination of testing time needs to rely on people Work empirical value.That is, the testing time by tester directly according to experience to inertial navigation system accuracy assessment It is determined, the subjective impact of its tested person personnel is larger, so as to cause the confidence level of existing test result to be affected.
The content of the invention
In order to solve present in prior art in the test of inertial navigation system accuracy assessment, testing time is by testing Personnel determine according to experience, caused by test result confidence level the problem of being affected, the invention provides one kind The method of testing and device of inertial navigation system accuracy assessment.
For one side, this application provides a kind of method of testing of inertial navigation system accuracy assessment, including：
Receive the condition confidence level under current test strip part and default conclusion confidence level；
The ratio of the conclusion confidence level and the condition confidence level is calculated, obtains sample confidence level；
According to the sample confidence level and the probability-distribution function of preset kind, each testing time and corresponding confidence are obtained The relation curve of limit value；
Target detection number is determined according to the target confidence limit value of reception and the relation curve.
Further, the probability-distribution function of the preset kind is t distribution functions；The confidence limit value is put including average Believe higher limit and average confidence lower limit value；
Accordingly, it is described according to the sample confidence level and the probability-distribution function of preset kind, obtain each testing time With the relation curve of corresponding confidence limit value, including：
The lane place line of the t distribution functions is determined according to the sample confidence level, determines that the t is distributed according to testing time The free degree of function；
T under each testing time is determined according to the lane place line of the t distribution functions, the free degree of the t distribution functions Distribution function value；
According to corresponding to the t distribution functions value under each testing time obtains each testing time average confidence upper limit value and Average confidence lower limit value, and obtain the relation curve.
Further, t distribution function value of the basis under each testing time is obtained corresponding to each testing time It is worth confidence upper limit value and average confidence lower limit value, including：
Average confidence upper limit value corresponding with each testing time is calculated according to formula (1)：
Average confidence lower limit value corresponding with each testing time is calculated according to formula (2)：
Wherein, the Lt,pFor average confidence upper limit value；The Lt,nFor average confidence lower limit value；The λ is sample confidence Degree；The N is testing time and the N is the positive integer more than or equal to 2；It is describedTo be (N-1) when the free degree When, lane place line isT distribution function values.
Further, the probability-distribution function of the preset kind is χ2Distribution function；The confidence limit value includes standard Poor confidence upper limit value and standard deviation confidence lower limit value；
Accordingly, it is described according to the sample confidence level and the probability-distribution function of preset kind, obtain each testing time With the relation curve of corresponding confidence limit value, including：
The χ is determined according to the sample confidence level2The quantile of distribution function, the χ is determined according to testing time2Point The free degree of cloth function；
According to the χ2The lane place line of distribution function, the χ2The free degree of distribution function is determined under each testing time χ2Distribution function value；
According to the χ under each testing time2Distribution function value obtains standard deviation confidence upper limit corresponding to each testing time Value and standard deviation confidence lower limit value, and obtain the relation curve.
Further, χ of the basis under each testing time2Distribution function value is obtained and marked corresponding to each testing time Accurate poor confidence upper limit value and standard deviation confidence lower limit value, including：
Standard deviation confidence upper limit value corresponding with each testing time is calculated according to formula (3)：
Standard deviation confidence lower limit value corresponding with each testing time is calculated according to formula (4)：
Wherein, it is describedFor standard deviation confidence upper limit value；It is describedFor standard deviation confidence lower limit value；The λ is sample Confidence level；The N is testing time and the N is the positive integer more than or equal to 2；It is describedTo be when the free degree (N-1) when, lane place line isχ2Distribution function value；It is describedWhen the free degree is (N-1), to divide position Line isχ2Distribution function value.
On the other hand, present invention also offers a kind of test device of inertial navigation system accuracy assessment, including：
Transceiver module, for receiving condition confidence level and default conclusion confidence level under current test strip part；
Computing module, for calculating the ratio of the conclusion confidence level and condition confidence level, obtain sample confidence level；
Relation curve acquisition module, for the probability-distribution function according to the sample confidence level and preset kind, obtain The relation curve of each testing time and corresponding confidence limit value；
Processing module, target detection number is determined for the target confidence limit value according to reception and the relation curve.
Further, the probability-distribution function of the preset kind is t distribution functions；The confidence limit value is put including average Believe higher limit and average confidence lower limit value；
Accordingly, the relation curve acquisition module, is specifically used for：
The lane place line of the t distribution functions is determined according to the sample confidence level, determines that the t is distributed according to testing time The free degree of function；
T under each testing time is determined according to the lane place line of the t distribution functions, the free degree of the t distribution functions Distribution function value；
According to corresponding to the t distribution functions value under each testing time obtains each testing time average confidence upper limit value and Average confidence lower limit value, and obtain the relation curve.
Further, the relation curve acquisition module, is specifically used for：
Average confidence upper limit value corresponding with each testing time is calculated according to formula (1)：
Average confidence lower limit value corresponding with each testing time is calculated according to formula (2)：
Wherein, the Lt,pFor average confidence upper limit value；The Lt,nFor average confidence lower limit value；The λ is sample confidence Degree；The N is testing time and the N is the positive integer more than or equal to 2；It is describedFor when the free degree is (N-1), Lane place line isT distribution function values.
Further, the probability-distribution function of the preset kind is χ2Distribution function；The confidence limit value includes standard Poor confidence upper limit value and standard deviation confidence lower limit value；
Accordingly, the relation curve acquisition module, is specifically used for：
The χ is determined according to the sample confidence level2The lane place line of distribution function, the χ is determined according to testing time2Point The free degree of cloth function；
According to the χ2The lane place line of distribution function, the χ2The free degree of distribution function is determined under each testing time χ2Distribution function value；
According to the χ under each testing time2Distribution function value obtains standard deviation confidence upper limit corresponding to each testing time Value and standard deviation confidence lower limit value, and obtain the relation curve.
Further, the relation curve acquisition module, is specifically used for：
Standard deviation confidence upper limit value corresponding with each testing time is calculated according to formula (3)：
Standard deviation confidence lower limit value corresponding with each testing time is calculated according to formula (4)：
Wherein, it is describedFor standard deviation confidence upper limit value；It is describedFor standard deviation confidence lower limit value；The λ is sample Confidence level；The N is testing time and the N is the positive integer more than or equal to 2；It is describedTo be when the free degree (N-1) when, lane place line isχ2Distribution function value；It is describedWhen the free degree is (N-1), to divide position Line isχ2Distribution function value.
The invention provides a kind of method of testing and device of inertial navigation system accuracy assessment, by receiving current test Under the conditions of condition confidence level and default conclusion confidence level, calculate the ratio of the conclusion confidence level and condition confidence level, obtain The sample confidence level, according to the sample confidence level and the probability-distribution function of preset kind, obtain each testing time and The relation curve of corresponding confidence limit value, target detection is determined according to the target confidence limit value of reception and the relation curve Number, so as to the condition confidence level according to current test strip part, default conclusion confidence level, the probability distribution letter of preset kind Number and the target confidence limit value received, it is determined that the target that can be most matched with the test of this inertial navigation system accuracy assessment is surveyed Number is tried, and then the confidence level of test result has been effectively ensured.
Brief description of the drawings
Fig. 1 is a kind of flow signal of the method for testing for inertial navigation system accuracy assessment that the embodiment of the present invention one provides Figure；
A kind of pass that Fig. 2 is obtained by the method for testing for the inertial navigation system accuracy assessment that the embodiment of the present invention one provides It is the schematic diagram of curve；
The another kind that Fig. 3 is obtained by the method for testing for the inertial navigation system accuracy assessment that the embodiment of the present invention one provides The schematic diagram of relation curve；
Fig. 4 is a kind of structural representation of the test device for inertial navigation system accuracy assessment that the embodiment of the present invention two provides Figure.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described.
Inertial navigation system is the prime navaid equipment and attitude reference of all kinds of carriers such as naval vessel, aircraft, guided missile, especially It is more important for nuclear submarine, its status.In order to accurately know the performance of inertial navigation system, to the precision of inertial navigation system Carrying out evaluation turns into essential link.In general, in order to ensure to obtain genuine and believable test result, often to used Property navigation system accuracy assessment is repeatedly tested.
At present, the selection of testing time mainly determines according to the artificial experience of tester.Tester it is determined that During testing time, it can not will include inertial trial cycle, field trial measurement difficulty and weather conditions restriction etc. Objective factor and inertial navigation system inside is being combined and considered using upper accuracy requirement.Such test The determination mode subjectivity of number is very strong, and the confidence level of its test result obtained will be affected, because testing time can Can not precisely it be matched with test purpose and actual test condition, testing cost when it is tested is also relatively It is high.Therefore, searching one kind is needed badly testing time can be carried out effectively to count and have according to test purpose and actual test condition The method of the scale of construction, to improve the confidence level of existing test result.
Fig. 1 is a kind of flow signal of the method for testing for inertial navigation system accuracy assessment that the embodiment of the present invention one provides Figure, as shown in figure 1, this method includes：
Step 101, the condition confidence level under reception current test strip part and default conclusion confidence level.
It should be noted that the executive agent of the method for testing of inertial navigation system accuracy assessment provided by the invention is specific Can be the test device of inertial navigation system accuracy assessment, it is concretely by processor, memory, logic combination circuit, core The physical equipment of the hardware configurations such as piece group composition, wherein have in memory and can be used for realizing inertial navigation system provided by the invention The code logic of the method for testing of system accuracy assessment.
Specifically, the condition confidence level under current test strip part refers to test sample be estimated under current test strip part The error confidential interval of meter is capable of the possibility of covering system true error, and it is by test system and the essence relatively of tested test system The factors such as degree, test environment, admission equipment precision together decide on, and it can specifically be expressed as a percentage.Default conclusion confidence level Referring to the confidence level of this test acceptable test result, it is specifically dependent upon the purposes of the inertial navigation system of test, It can be expressed as a percentage.
Step 102, the ratio for calculating conclusion confidence level and condition confidence level, obtain sample confidence level.
Specifically, sample confidence level refers to selected during testing inertial navigation system accuracy assessment Test sample estimated by error confidential interval be capable of the possibility of covering system true error, its can to conclusion confidence level and Condition confidence level carries out ratio calculation acquisition, and is expressed as a percentage, i.e. sample confidence level=conclusion confidence level ÷ condition confidences Degree × 100%.
Step 103, the probability-distribution function according to sample confidence level and preset kind, obtain each testing time and corresponding The relation curve of confidence limit value.
Specifically, due to being separate between each test of inertial navigation system accuracy assessment, therefore can recognize Meet normal distyribution function for test error when using each experiment.It is quantitative using statistical probability-distribution function Obtain the relation curve of the testing time and corresponding confidence limit value under the condition confidence level and conclusion confidence level of this test. Wherein, confidence limit value refer to test sample systematic error estimation value, random error estimate to systematic error, random error it is inclined From degree.
If furthermore, it is understood that utilizeRepresent inertial navigation system systematic error μx, inertia leads Navigate service system error estimateAnd if the relation between inertial navigation system standard deviation estimate S, L thereint,p Then represent average confidence upper limit value, Lt,nAverage confidence lower limit value is then represented, the value both it then can be according to probability distribution letter Number, testing time and sample confidence level determine.
Preferably, the pre- probability-distribution function of the preset kind in step 103 concretely t distribution functions, put accordingly Believe limit value then concretely average confidence upper limit value and average confidence lower limit value, wherein, average confidence upper limit value and average confidence Lower limit is used for the degree for representing that systematic error estimation value deviates systematic error.
It should be noted that in probability theory and statistics, t distribution functions are frequently used in the totality in normal distribution Average estimated.The tracing pattern of t distribution functions is relevant with the free degree size of t distribution functions：With standardized normal distribution Curve is compared, and the free degree is smaller, and t distribution function curves are more flat, lower among curve, and curve bilateral afterbody sticks up higher；From Bigger by spending, t distribution function curves are closer to normal distribution curve, and when the free degree tends to be infinite, t distribution function curves are mark Quasi normal distribution curve.
That is, determining the lane place line of t distribution functions according to sample confidence level, determine that t is distributed letter according to testing time Several frees degree, determine that the t under each testing time is distributed letter according to the lane place line of t distribution functions, the free degree of t distribution functions Number values, according to corresponding to the t distribution functions value under each testing time obtains each testing time average confidence upper limit value and Average confidence lower limit value, and obtain relation curve.
Wherein, the average confidence upper limit value corresponding to each testing time can be calculated according to formula (1) and obtained：
Wherein, Lt,pFor average confidence upper limit value；λ is sample confidence level；N is testing time, and N is more than or equal to 2 just Integer；For when the free degree is (N-1), lane place line isT distribution function values.
The average confidence lower limit value according to corresponding to formula (2) calculates each testing time：
Wherein, Lt,nFor average confidence lower limit value；λ is sample confidence level；N is testing time, and N is just whole more than or equal to 2 Number；For when the free degree is (N-1), lane place line isT distribution function values.
As an example it is assumed that condition confidence level is 100%, conclusion confidence level is 95%, then the sample confidence this time tested Spend for 95%, i.e. λ is 95%, and λ value is substituted into acquisition lane place line in formula (1) and (2).Then, opened from testing time for 2 Begin, calculate the free degree corresponding to each testing time value successively, and inquiry acquisition is obtaining in t distribution function list of probabilities T distribution function values under the free degree corresponding to lane place line and each testing time value obtained.
Table 1 be calculated using above-mentioned formula (1) and formula (2) obtain testing time when sample confidence level is 95% and Corresponding relation between average confidence limit value, Fig. 2 are the survey for the inertial navigation system accuracy assessment that the embodiment of the present invention one provides A kind of schematic diagram for relation curve that method for testing is obtained.Wherein, relation curve shown in Fig. 2, Fig. 2 can be drawn using the data of table 1 The abscissa of shown relation curve is testing time, and ordinate is average confidence limit value.
Table 1
Or if furthermore, it is understood that utilizeRepresent inertial navigation system standard deviationx, inertia It is therein if relation between navigation system standard deviation estimate SThen it is expressed as standard deviation confidence upper limit value； Standard deviation confidence lower limit value is then expressed as, the value both it can then be put according to probability-distribution function, testing time and sample Reliability determines.
Preferably, the pre- probability-distribution function of the preset kind in step 103 concretely χ2Distribution function, put accordingly Letter limit value includes standard deviation confidence upper limit value and standard deviation confidence lower limit value, wherein, standard deviation confidence upper limit value and standard deviation are put Believe that lower limit can be used for the degree for representing that random error estimate deviates random error.
It should be noted that in probability theory and statistics, when n mutually independent random variables obeys standard normal During distribution, then the quadratic sum of the stochastic variable of this n obedience standardized normal distribution will form a new stochastic variable, and it is distributed rule Rule is then referred to as χ2Distribution function, n therein are also referred to as the free degree, when free degree n is very big, χ2Distribution function is seemingly normal state Distribution.
That is, χ can be determined according to sample confidence level2The lane place line of distribution function, χ is determined according to testing time2Distribution The free degree of function, according to χ2The lane place line of distribution function, χ2The free degree of distribution function determines the χ under each testing time2Point Cloth function value, according to the χ under each testing time2Distribution function value is obtained corresponding to each testing time in standard deviation confidence Limit value and standard deviation confidence lower limit value, and obtain relation curve.
Wherein, the standard deviation confidence upper limit value corresponding to each testing time can be calculated according to formula (3) and obtained：
Wherein,For standard deviation confidence upper limit value；λ is sample confidence level；N is testing time, and N is more than or equal to 2 Positive integer；For when the free degree is (N-1), lane place line isχ2Distribution function value.
The standard deviation confidence lower limit value according to corresponding to formula (4) calculates each testing time：
Wherein,For standard deviation confidence lower limit value；λ is sample confidence level；N is testing time, and N is more than or equal to 2 just Integer；For when the free degree is (N-1), lane place line isχ2Distribution function value.
As an example it is assumed that condition confidence level is 100%, conclusion confidence level is 95%, then the sample confidence this time tested Spend for 95%, i.e. λ is 95%, and λ value is substituted into acquisition lane place line in formula (3) and (4).Then, opened from testing time for 2 Begin, calculate the free degree corresponding to each testing time value successively, and in χ2Inquiry obtains in distribution function list of probabilities The χ under the free degree corresponding to the lane place line of acquisition and each testing time value2Distribution function value.
Table 2 be calculated using above-mentioned formula (3) and formula (4) obtain testing time when sample confidence level is 95% and Corresponding relation between standard deviation confidence limit value, Fig. 3 are the inertial navigation system accuracy assessment that the embodiment of the present invention one provides The schematic diagram for another relation curve that method of testing is obtained.Wherein, relation curve shown in Fig. 3 can be drawn using the data of table 2, The abscissa of relation curve shown in Fig. 3 is testing time, and ordinate is standard deviation confidence limit value.
Table 2
Step 104, target detection number determined according to the target confidence limit value and relation curve of reception.
Specifically, after the relation curve of confidence limit value and testing time is got, can be put according to the target of reception Letter limit value confirms some confidence limit values matched with the target confidence limit value in relation curve, and corresponding from these confidence limit values Testing time in choose that minimum testing time of testing time as target detection number so that targeted number exists Keep minimum in the case of disclosure satisfy that condition confidence level and the default conclusion confidence level under current test strip part, and then realize Testing cost is reduced in the case where ensureing that test result is genuine and believable.
For example, when the relation curve of acquisition is as shown in Figure 2, if the target mean confidence upper limit value received is 1, When target mean confidence lower limit value is -1, then it is meant that only average confidence upper limit value is less than or equal to 1 and average confidence lower limit value Average confidence limit value more than or equal to -1 is the average confidence limit value matched with the target mean confidence limit value.Now, it is known that this In the testing time corresponding to average confidence limit value matched a bit with target mean confidence limit value, 6 times are minimum number, because This, target detection number is 6 times.Similarly, also can be that relation curve determines testing time according to Fig. 3.
The invention provides a kind of method of testing of inertial navigation system accuracy assessment, by receiving under current test strip part Condition confidence level and default conclusion confidence level, the ratio of the conclusion confidence level and condition confidence level is calculated, described in acquisition Sample confidence level, according to the sample confidence level and the probability-distribution function of preset kind, obtain each testing time and corresponding The relation curve of confidence limit value, target detection number is determined according to the target confidence limit value of reception and the relation curve, so as to Can be according to the condition confidence level of current test strip part, default conclusion confidence level, the probability-distribution function of preset kind and The target confidence limit value of reception, it is determined that the target detection that can be most matched with the test of this inertial navigation system accuracy assessment Number, and then the confidence level of test result has been effectively ensured.
Fig. 4 is a kind of structural representation of the test device for inertial navigation system accuracy assessment that the embodiment of the present invention two provides Figure, as shown in figure 4, the test device includes：
Transceiver module 10, for receiving condition confidence level and default conclusion confidence level under current test strip part；
Computing module 20, for calculating the ratio of the conclusion confidence level and condition confidence level, obtain sample confidence level；
Relation curve acquisition module 30, for the probability-distribution function according to the sample confidence level and preset kind, obtain Obtain the relation curve of each testing time and corresponding confidence limit value；
Processing module 40, target detection number is determined for the target confidence limit value according to reception and the relation curve.
Further, the probability-distribution function of the preset kind is t distribution functions；The confidence limit value is put including average Believe higher limit and average confidence lower limit value；Accordingly, the relation curve acquisition module 30, is specifically used for：According to the sample Confidence level determines the lane place line of the t distribution functions, and the free degree of the t distribution functions is determined according to testing time；According to institute State the lane place line of t distribution functions, the free degree of the t distribution functions determines the t distribution function values under each testing time；Root Obtained according to the t distribution functions value under each testing time under average confidence upper limit value and average confidence corresponding to each testing time Limit value, and obtain the relation curve.
For example, relation curve acquisition module 30, is specifically used for：
Average confidence upper limit value corresponding with each testing time is calculated according to formula (1)：
Average confidence lower limit value corresponding with each testing time is calculated according to formula (2)：
Wherein, the Lt,pFor average confidence upper limit value；The Lt,nFor average confidence lower limit value；The λ is sample confidence Degree；The N is testing time and the N is the positive integer more than or equal to 2；It is describedTo be (N-1) when the free degree When, lane place line isT distribution function values.
Or further, the probability-distribution function of the preset kind is χ2Distribution function；The confidence limit value includes Standard deviation confidence upper limit value and standard deviation confidence lower limit value；
Accordingly, the relation curve acquisition module 30, is specifically used for：The χ is determined according to the sample confidence level2Point The lane place line of cloth function, the χ is determined according to testing time2The free degree of distribution function；According to the χ2Distribution function divides position Line, the χ2The free degree of distribution function determines the χ under each testing time2Distribution function value；According under each testing time χ2Distribution function value obtains standard deviation confidence upper limit value and standard deviation confidence lower limit value corresponding to each testing time, and obtains The relation curve.
For example, the relation curve acquisition module 30, is specifically used for：
Standard deviation confidence upper limit value corresponding with each testing time is calculated according to formula (3)：
Standard deviation confidence lower limit value corresponding with each testing time is calculated according to formula (4)：
Wherein, it is describedFor standard deviation confidence upper limit value；It is describedFor standard deviation confidence lower limit value；The λ is sample Confidence level；The N is testing time and the N is the positive integer more than or equal to 2；It is describedTo be when the free degree (N-1) when, lane place line isχ2Distribution function value；It is describedWhen the free degree is (N-1), to divide position Line isχ2Distribution function value.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description Specific work process and corresponding beneficial effect, may be referred to the corresponding process in preceding method embodiment, herein no longer Repeat.
The invention provides a kind of test device of inertial navigation system, is put by receiving the condition under current test strip part Reliability and default conclusion confidence level, the ratio of conclusion confidence level and condition confidence level is calculated, sample confidence level is obtained, according to sample The probability-distribution function of this confidence level and preset kind, obtain the relation curve of each testing time and corresponding confidence limit value, root Target detection number is determined according to the target confidence limit value and relation curve of reception, so as to the condition according to current test strip part Confidence level, default conclusion confidence level, the probability-distribution function of preset kind and the target confidence limit value of reception determine and this The target detection number that the test of secondary inertial navigation system accuracy assessment matches the most, so be effectively ensured test result can Reliability.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above-mentioned each method embodiment can lead to The related hardware of programmed instruction is crossed to complete.Foregoing program can be stored in a computer read/write memory medium.The journey Sequence upon execution, execution the step of including above-mentioned each method embodiment；And foregoing storage medium includes：ROM, RAM, magnetic disc or Person's CD etc. is various can be with the medium of store program codes.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology The scope of scheme.

Claims (10)

  1. A kind of 1. method of testing of inertial navigation system accuracy assessment, it is characterised in that including：
    Receive the condition confidence level under current test strip part and default conclusion confidence level；
    The ratio of the conclusion confidence level and the condition confidence level is calculated, obtains sample confidence level；
    According to the sample confidence level and the probability-distribution function of preset kind, each testing time and corresponding confidence limit value are obtained Relation curve；
    Target detection number is determined according to the target confidence limit value of reception and the relation curve.
  2. 2. method of testing according to claim 1, it is characterised in that the probability-distribution function of the preset kind is t points Cloth function；The confidence limit value includes average confidence upper limit value and average confidence lower limit value；
    Accordingly, it is described according to the sample confidence level and the probability-distribution function of preset kind, obtain each testing time and right The relation curve for the confidence limit value answered, including：
    The lane place line of the t distribution functions is determined according to the sample confidence level, the t distribution functions are determined according to testing time The free degree；
    Determine that the t under each testing time is distributed according to the lane place line of the t distribution functions, the free degree of the t distribution functions Function value；
    Average confidence upper limit value and average according to corresponding to the t distribution functions value under each testing time obtains each testing time Confidence lower limit value, and obtain the relation curve.
  3. 3. method of testing according to claim 2, it is characterised in that t distribution letter of the basis under each testing time Number value obtains average confidence upper limit value and average confidence lower limit value corresponding to each testing time, including：
    Average confidence upper limit value corresponding with each testing time is calculated according to formula (1)：
    Average confidence lower limit value corresponding with each testing time is calculated according to formula (2)：
    Wherein, the Lt,pFor average confidence upper limit value；The Lt,nFor average confidence lower limit value；The λ is sample confidence level；Institute It is that testing time and the N are positive integer more than or equal to 2 to state N；It is describedWhen the free degree is (N-1), to divide position Line isT distribution function values.
  4. 4. method of testing according to claim 1, it is characterised in that the probability-distribution function of the preset kind is χ2Point Cloth function；The confidence limit value includes standard deviation confidence upper limit value and standard deviation confidence lower limit value；
    Accordingly, it is described according to the sample confidence level and the probability-distribution function of preset kind, obtain each testing time and right The relation curve for the confidence limit value answered, including：
    The χ is determined according to the sample confidence level2The quantile of distribution function, the χ is determined according to testing time2It is distributed letter Several frees degree；
    According to the χ2The lane place line of distribution function, the χ2The free degree of distribution function determines the χ under each testing time2Point Cloth function value；
    According to the χ under each testing time2Distribution function value obtains standard deviation confidence upper limit value and mark corresponding to each testing time Accurate poor confidence lower limit value, and obtain the relation curve.
  5. 5. method of testing according to claim 4, it is characterised in that χ of the basis under each testing time2It is distributed letter Number value obtains standard deviation confidence upper limit value and standard deviation confidence lower limit value corresponding to each testing time, including：
    Standard deviation confidence upper limit value corresponding with each testing time is calculated according to formula (3)：
    Standard deviation confidence lower limit value corresponding with each testing time is calculated according to formula (4)：
    Wherein, it is describedFor standard deviation confidence upper limit value；It is describedFor standard deviation confidence lower limit value；The λ is sample confidence Degree；The N is testing time and the N is the positive integer more than or equal to 2；It is describedTo be (N-1) when the free degree When, lane place line isχ2Distribution function value；It is describedFor when the free degree is (N-1), lane place line isχ2Distribution function value.
  6. A kind of 6. test device of inertial navigation system accuracy assessment, it is characterised in that including：
    Transceiver module, for receiving condition confidence level and default conclusion confidence level under current test strip part；
    Computing module, for calculating the ratio of the conclusion confidence level and condition confidence level, obtain sample confidence level；
    Relation curve acquisition module, for the probability-distribution function according to the sample confidence level and preset kind, obtain each survey Try the relation curve of number and corresponding confidence limit value；
    Processing module, target detection number is determined for the target confidence limit value according to reception and the relation curve.
  7. 7. test device according to claim 6, it is characterised in that the probability-distribution function of the preset kind is t points Cloth function；The confidence limit value includes average confidence upper limit value and average confidence lower limit value；
    Accordingly, the relation curve acquisition module, is specifically used for：
    The lane place line of the t distribution functions is determined according to the sample confidence level, the t distribution functions are determined according to testing time The free degree；
    Determine that the t under each testing time is distributed according to the lane place line of the t distribution functions, the free degree of the t distribution functions Function value；
    Average confidence upper limit value and average according to corresponding to the t distribution functions value under each testing time obtains each testing time Confidence lower limit value, and obtain the relation curve.
  8. 8. test device according to claim 7, it is characterised in that the relation curve acquisition module, be specifically used for：
    Average confidence upper limit value corresponding with each testing time is calculated according to formula (1)：
    Average confidence lower limit value corresponding with each testing time is calculated according to formula (2)：
    Wherein, the Lt,pFor average confidence upper limit value；The Lt,nFor average confidence lower limit value；The λ is sample confidence level；Institute It is that testing time and the N are positive integer more than or equal to 2 to state N；It is describedWhen the free degree is (N-1), to divide position Line isT distribution function values.
  9. 9. test device according to claim 6, it is characterised in that the probability-distribution function of the preset kind is χ2Point Cloth function；The confidence limit value includes standard deviation confidence upper limit value and standard deviation confidence lower limit value；
    Accordingly, the relation curve acquisition module, is specifically used for：
    The χ is determined according to the sample confidence level2The lane place line of distribution function, the χ is determined according to testing time2It is distributed letter Several frees degree；
    According to the χ2The lane place line of distribution function, the χ2The free degree of distribution function determines the χ under each testing time2Point Cloth function value；
    According to the χ under each testing time2Distribution function value obtains standard deviation confidence upper limit value and mark corresponding to each testing time Accurate poor confidence lower limit value, and obtain the relation curve.
  10. 10. test device according to claim 9, it is characterised in that the relation curve acquisition module, be specifically used for：
    Standard deviation confidence upper limit value corresponding with each testing time is calculated according to formula (3)：
    Standard deviation confidence lower limit value corresponding with each testing time is calculated according to formula (4)：
    Wherein, it is describedFor standard deviation confidence upper limit value；It is describedFor standard deviation confidence lower limit value；The λ is sample confidence Degree；The N is testing time and the N is the positive integer more than or equal to 2；It is describedTo be (N-1) when the free degree When, lane place line isχ2Distribution function value；It is describedFor when the free degree is (N-1), lane place line isχ2Distribution function value.
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