CN111426241B - Operation parameter correction threshold determination method and device based on navigation system - Google Patents
Operation parameter correction threshold determination method and device based on navigation system Download PDFInfo
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- CN111426241B CN111426241B CN202010526155.4A CN202010526155A CN111426241B CN 111426241 B CN111426241 B CN 111426241B CN 202010526155 A CN202010526155 A CN 202010526155A CN 111426241 B CN111426241 B CN 111426241B
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Abstract
The invention provides a method and a device for determining an operation parameter correction threshold based on a navigation system, wherein the method comprises the following steps: when a correction threshold updating period is reached, determining an operation parameter value of an operation target at the current moment, wherein the operation parameter comprises a visual speed and a visual position; and determining a correction threshold of the operation parameter in the next period based on the operation parameter value of the current operation target. By implementing the method, the correction threshold of the operation parameter of the next period is determined by calculating the operation parameter value of the operation target in the update period of the correction threshold, the correction threshold is set by depending on the operation parameter of the actual operation target, a more accurate standard is provided for the selection of the correction parameter of the operation target, and the accuracy rate of the operation target in correcting the operation track is improved.
Description
Technical Field
The invention relates to the field of carrier rocket control, in particular to a method and a device for determining an operation parameter correction threshold based on a navigation system.
Background
In general, in the integrated navigation, two or more dissimilar navigation systems measure and resolve the same navigation information, calculate and correct an error of each navigation system, and thereby provide accurate navigation information. The navigation correction threshold can correct the running track of the rocket according to the normal correction range in the flying process of the rocket, so that the rocket can fly normally.
In the related technology, the combined navigation correction threshold is determined only by the flight time of the rocket, different navigation correction thresholds are set for different rocket running times, the correlation between the determination of the correction threshold and the time is limited by the experience of people, and when the rocket deviates, the selection of correction parameters is blind, so that the accuracy of correcting the running track of the rocket is low.
Disclosure of Invention
Therefore, the invention aims to solve the technical problem of overcoming the defect that the accuracy of rocket running track correction is low due to the fact that the navigation correction threshold in the prior art is determined only by the flight time of the rocket and the selection of correction parameters is blind, thereby providing the method and the device for determining the running parameter correction threshold based on the navigation system.
The embodiment of the invention provides a method for determining an operation parameter correction threshold based on a navigation system, which comprises the following steps: when a correction threshold updating period is reached, determining an operation parameter value of an operation target at the current moment, wherein the operation parameter comprises a visual speed and a visual position; and determining a correction threshold of the operation parameter in the next period based on the operation parameter value of the current operation target.
Optionally, the determining a correction threshold of the operating parameter in the next period based on the operating parameter value of the operating target at the current time includes: acquiring a minimum value of a correction threshold corresponding to the operation parameter; and determining a correction threshold of the operation parameter in the next period based on the operation parameter value of the current operation target and the corresponding minimum value of the correction threshold.
Optionally, the method further comprises: acquiring a maximum value of a correction threshold corresponding to the operation parameter; and taking the maximum value of the correction threshold of the operation parameter as the correction threshold of the operation parameter in the next period when the correction threshold of the operation parameter in the next correction threshold updating period is larger than the maximum value of the correction threshold of the corresponding operation parameter.
Optionally, the determining an operation parameter value of the current operation target when the update period of the correction threshold is reached includes: acquiring an initial value of an operation parameter of an operation target and acquiring time from the initial value moment to a current correction threshold updating period; and determining the operation parameter value of the operation target at the current moment based on the initial value of the operation parameter of the operation target and the time from the obtained initial value moment to the current correction threshold updating period.
Optionally, the obtaining an initial value of an operation parameter of the operation target includes: when the updating period of the last correction threshold is finished, the running track of the running target is corrected, and the initial value of the running parameter of the running target is set to be zero; and when the running track of the running target is not corrected in the last correction threshold updating period, taking the running parameter value of the running target corresponding to the last correction threshold updating period as the initial value of the running parameter.
Optionally, determining a correction threshold of the operating parameter in a next correction threshold update period based on the operating parameter value of the operating target at the current time and the corresponding minimum value and maximum value of the correction threshold, including:
wherein the content of the first and second substances,
representing the minimum value of the apparent velocity correction threshold;
representing the maximum value of the visual speed correction threshold;
represents the apparent position minimum;
representing a maximum value of the visual position correction threshold; a coefficient set for an azimuth error according to actual aiming of the rocket;
indicating a visual velocity correction threshold;
indicating a view position correction threshold;
representing a view position of the operational target;
indicating the apparent velocity of the operational objective.
The embodiment provides an operation parameter correction threshold determining device based on a navigation system, which includes: the parameter determining module is used for determining the operation parameter value of the operation target at the current moment when the update period of the correction threshold is reached, wherein the operation parameter comprises the visual speed and the visual position; and the correction threshold determining module is used for determining the correction threshold of the operation parameter in the next period based on the operation parameter value of the current operation target.
Optionally, the modified threshold determining module includes: the minimum value acquisition module is used for acquiring a correction threshold minimum value corresponding to the operation parameter; and the first correction threshold determining submodule is used for determining a correction threshold of the operation parameter in the next period based on the operation parameter value of the current operation target and the corresponding correction threshold minimum value.
An embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method for determining a navigation system-based operation parameter modification threshold according to the first aspect or any of the embodiments of the first aspect when executing the program.
An embodiment of the present invention provides a storage medium, on which computer instructions are stored, where the instructions, when executed by a processor, implement the steps of the method for determining a navigation system based operation parameter modification threshold according to the first aspect or any implementation manner of the first aspect.
The technical scheme of the invention has the following advantages:
in the method/device for determining the operation parameter correction threshold based on the navigation system, the operation parameter value of the operation target is calculated in the update period of the correction threshold, the correction threshold of the operation parameter of the next period is determined, the correction threshold is set by the operation parameter of the actual operation target, and compared with the prior art in which the correction threshold is set only according to the rocket operation time, the method/device for determining the correction threshold by the real-time operation parameter of the operation target is implemented, so that a more accurate standard is provided for the selection of the correction parameter of the operation target, and the accuracy of the operation target in correcting the operation track is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a specific example of a method for determining a correction threshold based on an operating parameter of a navigation system according to an embodiment of the present invention;
fig. 2 is a schematic block diagram of a specific example of an apparatus for determining a correction threshold based on an operation parameter of a navigation system according to an embodiment of the present invention;
fig. 3 is a schematic block diagram of a specific example of an electronic device in an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The embodiment provides a method for determining an operation parameter correction threshold based on a navigation system, as shown in fig. 1, including the following steps:
s101, when a correction threshold updating period is reached, determining an operation parameter value of an operation target at the current moment, wherein the operation parameter comprises a visual speed and a visual position;
illustratively, the correction threshold is used for defining a correction range of an operation target operation parameter, and correcting an operation track of the operation target according to the correction range to ensure normal operation of the operation target, wherein the operation target may be an object needing to realize self-operation by means of a navigation system, such as a rocket, an automobile, and the like. And every other correction threshold updating period, the rocket can re-determine the correction threshold of the next period, namely the maximum range of correction of the apparent velocity and the apparent position of the rocket in the next period. When the rocket navigation system sends out the correction signals of the visual speed and the visual position in the next period, whether the correction value of the visual speed and the visual position sent out by the rocket navigation system is in the range of the correction threshold or not is judged through the redetermined correction threshold, and when the correction value is in the range of the correction threshold, the correction is carried out, and when the correction value is not in the range of the correction threshold, the correction is not carried out. The present embodiment does not limit the type of the operation target, and those skilled in the art can determine the operation target according to the needs.
The update period of the correction threshold may be in the order of milliseconds, seconds or minutes, which is not limited in the embodiment of the present application and can be determined by a person skilled in the art according to actual needs. Taking the update period of the correction threshold as ten milliseconds as an example, the correction threshold is updated every ten milliseconds. When the update period of the correction threshold is reached, the mode of determining the apparent speed and the apparent position of the current-time operation target may be that the current-time operation parameter is obtained through a corresponding operation parameter acquisition device, or that the current-time operation parameter is obtained by obtaining the apparent acceleration of the inertia component and performing internal calculation.
And S102, determining a correction threshold of the operation parameter in the next period based on the operation parameter value of the current operation target.
For example, based on the operation parameter value of the operation target at the current time, the method for determining the correction threshold of the operation parameter in the next period may be to obtain the apparent speed and apparent position correction threshold according to the following formula:
the unit of k is radian, and the size of k can be 6.10865e-3 radians specifically;
indicating a view position correction threshold;
indicating a visual velocity correction threshold;
representing the apparent position of the running target at the current moment;
indicating the apparent velocity of the operational target at the current time.
In the method for determining the operation parameter correction threshold based on the navigation system, the operation parameter value of the operation target is calculated in the update period of the correction threshold, the correction threshold of the operation parameter of the next period is determined, the correction threshold is set by the operation parameter of the actual operation target, and compared with the prior art in which the correction threshold is set only according to the rocket operation time, the method for determining the correction threshold by the real-time operation parameter of the operation target is implemented, so that a more accurate standard is provided for the selection of the correction parameter of the operation target, and the accuracy rate of the operation target in correcting the operation track is improved.
As an optional implementation manner of this embodiment, step S102 includes:
firstly, acquiring a minimum value of a correction threshold corresponding to an operation parameter;
for example, the minimum modification threshold value corresponding to the operating parameter may be a minimum apparent velocity modification threshold value and a minimum apparent position modification threshold value. The obtaining mode may be obtained from a memory in which the minimum value of the apparent velocity correction threshold and the minimum value of the apparent position correction threshold are stored in advance, or may be obtained directly from the minimum value data of the correction threshold input in real time from the outside.
And secondly, determining a correction threshold of the operation parameter in the next period based on the operation parameter value of the current operation target and the corresponding minimum value of the correction threshold.
For example, the manner of determining the correction threshold of the operating parameter in the next period based on the operating parameter value of the operating target at the current time and the corresponding minimum value of the correction threshold may be determined by the following formula:
wherein S isminCorrecting the minimum value of the threshold for the visual position; vminModifying the threshold minimum for apparent velocity, Smin、VminCan be determined according to the navigation deviation caused by the initial reference error of the operation target, and the specific Smin、VminRespectively, may be 100 meters and 3 meters/second.
In the method for determining the operation parameter correction threshold based on the navigation system, the correction threshold of the operation parameter in the next period is determined according to the operation parameter value of the current operation target and the corresponding minimum value of the correction threshold, the minimum value can be a navigation deviation caused by an initial reference error, in the embodiment, the influence of the initial reference error on the navigation deviation is considered for setting the correction threshold, the accuracy and the rationality of setting the correction threshold are improved, and the accuracy of correcting the operation track of the operation target is further improved.
As an optional implementation manner of this embodiment, the method further includes:
firstly, obtaining a maximum value of a correction threshold corresponding to an operation parameter;
for example, the setting of the maximum value of the correction threshold corresponding to the operation parameter may be obtained by counting historical operation data of the operation target, and the maximum value of the historical operation data, which is obtained by normally correcting the operation target, is used as the maximum value of the correction threshold. The maximum value of the correction threshold corresponding to the operation parameter comprises the minimum value of the visual speed correction threshold and the maximum value of the visual position correction threshold. The obtaining mode may be obtained from a memory in which the maximum value of the apparent velocity correction threshold and the maximum value of the apparent position correction threshold are stored in advance, or may be obtained directly from the external real-time input maximum value data of the correction threshold.
And secondly, taking the maximum value of the correction threshold of the operation parameter as the correction threshold of the operation parameter in the next period when the correction threshold of the operation parameter in the next correction threshold updating period is larger than the maximum value of the correction threshold of the corresponding operation parameter.
Illustratively, the specific implementation manner can be realized by the following formula:
wherein the content of the first and second substances,
representing the minimum value of the apparent velocity correction threshold;
indicates the maximum value of the visual velocity correction threshold, in this embodiment
May be 40 m/s;
represents the apparent position minimum;
indicates the maximum value of the apparent position correction threshold, in this embodiment
May be 25000 meters;
indicating a visual velocity correction threshold;
indicating a view position correction threshold;
representing a view position of the operational target;
indicating the apparent velocity of the operational objective.
It can be known from the above formula that the correction threshold values of the apparent velocity and the apparent position calculated in any correction threshold update period must be less than or equal to the maximum value of the correction threshold, and when the correction threshold values of the apparent velocity and the apparent position are greater than the maximum value, the maximum values of the correction threshold values of the apparent velocity and the apparent position are used as the correction threshold values of the apparent velocity and the apparent position.
According to the method for determining the operation parameter correction threshold based on the navigation system, the maximum value of the correction threshold limits the size of the correction threshold, so that the maximum value of the correction threshold of the operation target cannot exceed the maximum value of the correction threshold, when the amount of correction required in the correction signal exceeds the maximum value of the correction threshold, the data correction at this time can be judged to be abnormal, or the navigation system sending the correction signal fails, the correction signal is not responded, and the accuracy of the operation target in correcting the operation track is further improved.
As an optional implementation manner of this embodiment, step S101 includes:
firstly, acquiring an initial value of an operation parameter of an operation target and acquiring time from the moment of the initial value to a current update period of a correction threshold;
illustratively, when the last time the threshold updating period is corrected, the running track of the running target is corrected, and the initial value of the running parameter of the running target is set to be zero; and when the running track of the running target is not corrected in the last correction threshold updating period, taking the running parameter value of the running target corresponding to the last correction threshold updating period as the initial value of the running parameter.
Specifically, the initial value of the operation parameter of the operation target may be an accumulated value of the last correction threshold update period when the last correction threshold update period does not have the velocity and the apparent position correction; or when the last correction threshold update period has the visual speed and the visual position correction, the initial values of the visual speed and the visual position are 0. When the initial value of the operation parameter of the operation target is the accumulated value of the last correction threshold update period, the mode of the initial value of the operation parameter can be obtained by the following formula:
wherein, t0Indicating the time of last correction; t is t1Indicating the end time of the last correction threshold updating period; w is akApparent acceleration, W, measured for inertial components0Representing the initial apparent velocity of the operational objective.
The method for obtaining the initial viewing position may be obtained by the following formula:
wherein the content of the first and second substances,
indicating the initial apparent position of the moving object, t0Indicating the time of last correction; t is t1Indicating the end of the last modified threshold update period.
The time length obtaining manner of the operation target from the time of obtaining the initial value to the current correction threshold updating period may be that when the time of obtaining the initial value is the apparent speed and the apparent position correction time, the time length is the time from the apparent speed and the apparent position correction time to the current correction threshold updating period, or when the time of obtaining the initial value is the last correction threshold updating period, the time length is the time from the last correction threshold updating period to the current correction threshold updating period, and the two correction threshold updating periods may be a fixed time length, for example, 10 milliseconds.
And secondly, determining the operation parameter value of the operation target at the current time based on the initial value of the operation parameter of the operation target and the time from the obtained initial value time to the current correction threshold updating period.
For example, based on the initial value of the operation parameter of the operation target and the time to the current update period of the correction threshold, the specific manner of determining the operation parameter value of the operation target at the current time may be obtained by the following calculation formula:
wherein the content of the first and second substances,
the apparent speed of the running target at the current moment is represented;
representing the apparent position of the running target at the current moment;
an initial value representing the apparent velocity of the operational target;
an initial value representing a apparent position of the operational target; t is t2Indicating the time of the current modification threshold update period.
According to the operation parameter correction threshold determining method based on the navigation system, the operation parameter value of the operation target at the current time is determined through the initial value of the operation parameter of the operation target and the time from the time of obtaining the initial value to the current correction threshold updating period, and the accuracy of operation parameter value calculation is improved through accumulative calculation of the visual speed and the visual position, so that the accuracy of correction threshold calculation is improved.
The present embodiment provides an apparatus for determining an operation parameter modification threshold based on a navigation system, as shown in fig. 2, including:
a parameter determining module 201, configured to determine an operation parameter value of an operation target at a current time when a modification threshold update period is reached, where the operation parameter includes a view speed and a view position; the specific implementation manner is described in step S101 of the method of this embodiment, and is not described herein again.
A correction threshold determining module 202, configured to determine a correction threshold of the operation parameter in the next period based on the operation parameter value of the current-time operation target. The specific implementation manner is described in step S102 of the method of this embodiment, and is not described herein again.
The device for determining the operation parameter correction threshold based on the navigation system provided by the embodiment determines the correction threshold of the operation parameter of the next period by calculating the operation parameter value of the operation target in the update period of the correction threshold, and realizes the setting of the correction threshold by depending on the operation parameter of the actual operation target.
As an optional implementation manner of this embodiment, the modification threshold determining module 202 includes:
the minimum value acquisition module is used for acquiring a correction threshold minimum value corresponding to the operation parameter; the specific implementation manner is described in the method related to this embodiment, and is not described herein again.
And the first correction threshold determining submodule is used for determining a correction threshold of the operation parameter in the next period based on the operation parameter value of the current operation target and the corresponding correction threshold minimum value. The specific implementation manner is described in the method related to this embodiment, and is not described herein again.
As an optional implementation manner of this embodiment, the apparatus further includes:
a maximum value obtaining module, configured to obtain a maximum value of a correction threshold corresponding to the operation parameter; the specific implementation manner is described in the method related to this embodiment, and is not described herein again.
And the second correction threshold determining submodule is used for determining that the correction threshold of the operation parameter in the next correction threshold updating period is larger than the maximum value of the correction threshold of the corresponding operation parameter, and taking the maximum value of the correction threshold of the operation parameter as the correction threshold of the operation parameter in the next period. The specific implementation manner is described in the method related to this embodiment, and is not described herein again.
As an optional implementation manner of this embodiment, the parameter determining module 201 includes:
the data acquisition module is used for acquiring an initial value of an operation parameter of an operation target and obtaining the time from the moment of the initial value to the current update period of the correction threshold; the specific implementation manner is described in the method related to this embodiment, and is not described herein again.
And the operation parameter determining module is used for determining the operation parameter value of the operation target at the current moment based on the initial value of the operation parameter of the operation target and the time from the moment of obtaining the initial value to the update period of the current correction threshold. The specific implementation manner is described in the method related to this embodiment, and is not described herein again.
As an optional implementation manner of this embodiment, the data obtaining module includes:
the first initial value setting module is used for setting the initial value of the operation parameter of the operation target to be zero when the operation track of the operation target is corrected in the last correction threshold updating period; the specific implementation manner is described in the method related to this embodiment, and is not described herein again.
And the second initial value setting module is used for taking the running parameter value of the running target corresponding to the last corrected threshold updating period as the initial value of the running parameter when the running track of the running target is not corrected in the last corrected threshold updating period. The specific implementation manner is described in the method related to this embodiment, and is not described herein again.
As an optional implementation manner of this embodiment, the step of the second modification threshold determining sub-module includes:
wherein the content of the first and second substances,
representing the minimum value of the apparent velocity correction threshold;
representing the maximum value of the visual speed correction threshold;
represents the apparent position minimum;
representing a maximum value of the visual position correction threshold; a coefficient set for an azimuth error according to actual aiming of the rocket;
indicating a visual velocity correction threshold;
indicating a view position correction threshold;
representing a view position of the operational target;
indicating the apparent velocity of the operational objective. The specific implementation manner is described in the method related to this embodiment, and is not described herein again.
The embodiment of the present application also provides an electronic device, as shown in fig. 3, including a processor 310 and a memory 320, where the processor 310 and the memory 320 may be connected by a bus or in other manners.
Processor 310 may be a Central Processing Unit (CPU). The Processor 310 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or any combination thereof.
The memory 320 is a non-transitory computer readable storage medium, and can be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the method for determining the operation parameter modification threshold based on the navigation system in the embodiment of the present invention. The processor executes various functional applications and data processing of the processor by executing non-transitory software programs, instructions, and modules stored in the memory.
The memory 320 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor, and the like. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 320 may optionally include memory located remotely from the processor, which may be connected to the processor via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 320 and, when executed by the processor 310, perform a method for modifying a threshold determination based on operating parameters of a navigation system as in the embodiment of FIG. 1.
The details of the electronic device may be understood with reference to the corresponding related description and effects in the embodiment shown in fig. 1, and are not described herein again.
The embodiment also provides a computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions can execute the operation parameter correction threshold determination method based on the navigation system in any method embodiment. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (7)
1. A method for determining an operation parameter correction threshold based on a navigation system is characterized by comprising the following steps:
when a correction threshold updating period is reached, determining an operation parameter value of an operation target at the current moment, wherein the operation parameter comprises a visual speed and a visual position;
determining a correction threshold of the operation parameter in the next period based on the operation parameter value of the current operation target;
wherein the determining a correction threshold of the operating parameter in the next period based on the operating parameter value of the operating target at the current time includes:
acquiring a minimum value of a correction threshold corresponding to the operation parameter;
determining a correction threshold of the operation parameter in the next period based on the operation parameter value of the current operation target and the corresponding minimum value of the correction threshold, wherein the correction threshold comprises the following steps:
wherein the content of the first and second substances,
representing the minimum value of the apparent velocity correction threshold;
represents the apparent position minimum;
a coefficient set for an azimuth error according to actual aiming of the rocket;
indicating a visual velocity correction threshold;
indicating a view position correction threshold;
representing a view position of the operational target;
indicating the apparent velocity of the operational objective.
2. The method of claim 1, further comprising:
acquiring a maximum value of a correction threshold corresponding to the operation parameter;
and taking the maximum value of the correction threshold of the operation parameter as the correction threshold of the operation parameter in the next period when the correction threshold of the operation parameter in the next correction threshold updating period is larger than the maximum value of the correction threshold of the corresponding operation parameter.
3. The method of claim 1, wherein determining the value of the operating parameter for the currently operating target when the modified threshold update period is reached comprises:
acquiring an initial value of an operation parameter of an operation target and acquiring time from the initial value moment to a current correction threshold updating period;
and determining the operation parameter value of the operation target at the current moment based on the initial value of the operation parameter of the operation target and the time from the obtained initial value moment to the current correction threshold updating period.
4. The method of claim 3, wherein the obtaining initial values for the operating parameters of the operating target comprises:
when the updating period of the last correction threshold is finished, the running track of the running target is corrected, and the initial value of the running parameter of the running target is set to be zero;
and when the running track of the running target is not corrected in the last correction threshold updating period, taking the running parameter value of the running target corresponding to the last correction threshold updating period as the initial value of the running parameter.
5. A navigation system based operating parameter modification threshold determination apparatus for performing the navigation system based operating parameter modification threshold determination method of claim 1, comprising:
the parameter determining module is used for determining the operation parameter value of the operation target at the current moment when the update period of the correction threshold is reached, wherein the operation parameter comprises the visual speed and the visual position;
a correction threshold determination module, configured to determine a correction threshold of the operating parameter in the next period based on the operating parameter value of the operating target at the current time;
wherein the correction threshold determination module comprises:
the minimum value acquisition module is used for acquiring a correction threshold minimum value corresponding to the operation parameter;
and the first correction threshold determining submodule is used for determining a correction threshold of the operation parameter in the next period based on the operation parameter value of the current operation target and the corresponding correction threshold minimum value.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the navigation system based operation parameter modification threshold determination method of any one of claims 1-4 when executing the program.
7. A storage medium having stored thereon computer instructions, which when executed by a processor, perform the steps of the navigation system based operational parameter modification threshold determination method of any one of claims 1-4.
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