Navigation system integrity monitoring method, navigation system integrity monitoring device and electronic equipment

Abstract

The invention is applicable to the field of navigation, and provides a navigation system integrity monitoring method, an integrity monitoring device, electronic equipment and a computer readable storage medium. The method comprises the following steps: acquiring a track truth value and a navigation signal which are output by a signal simulator and associated with a carrier motion process; obtaining a miss imitation probability of the signal simulator, the miss imitation probability being used for indicating a probability that the signal simulator misses outputting the navigation signal compared with a real carrier motion process; inputting the navigation signal into a to-be-inspected navigation system to obtain a track estimated value output by the navigation system; comparing the track estimated value with the track true value to obtain an error positioning number; and calculating to obtain an integrity monitoring result of the navigation system based on the miss imitation probability, the error positioning number, the total positioning number of the track estimation value and a preset integrity risk sum. According to the scheme, the signal simulator bears most integrity risks, and the pressure and complexity of online integrity monitoring of the navigation system are reduced. 本申请适用于导航领域，提供了一种导航系统的完好性监测方法、完好性监测装置、电子设备及计算机可读存储介质，该方法包括：获取信号模拟器输出的与载体运动过程相关联的轨迹真值及导航信号；获取信号模拟器的漏仿概率，该漏仿概率用于指示与真实的载体运动过程相比，信号模拟器遗漏输出导航信号的概率；将导航信号输入至待检验的导航系统，得到导航系统输出的轨迹估计值；将轨迹估计值与轨迹真值进行比对，得到误差定位数；基于漏仿概率、误差定位数、轨迹估计值的总定位数及预设的完好性风险总和，计算得到导航系统的完好性监测结果。通过本申请方案，由信号模拟器承担大部分完好性风险，降低了导航系统在线进行完好性监测的压力和复杂度。