Reference trajectory based coverage analysis method in three-dimensional space for integrated navigation system

摘要

The present invention divides the movement distance on the reference trajectory where the antibody moves in a three-dimensional space, calculates DOP (Dilution Of Precision) or CRLB (Cramer-Rao Lower Bound) for each divided section, whether the desired performance is satisfied on the trajectory It relates to a reference trajectory-based performance satisfaction domain analysis method in 3D space for an integrated navigation system that analyzes the performance satisfaction domain in 3D space by confirming . The reference trajectory-based performance satisfaction region analysis method according to an embodiment of the present invention comprises the steps of (S10) setting the maximum allowable position error (target performance) of the navigation signal source for the target region to which the antibody moves, and the set allowable maximum position It may include calculating the maximum allowable DOP or CRLB from the error (S20) and dividing the reference trajectory on which the antibody moves at each predetermined predetermined movement distance (S30). In addition, calculating DOP or CRLB at all dividing points on the reference trajectory, comparing the calculated DOP or CRLB with the maximum allowed DOP or CRLB to determine whether performance is satisfied (S40) and the estimated position based on the reference trajectory It may include calculating the total volume of the error (S50).