Comprehensive Assessment of Methods for Calculating Circular Error Probability of Inertial Positioning

Abstract

This study aims to evaluate the navigation performance of inertial navigation systems (INSs), specifically the accuracy of transfer alignment on moving platforms. To this end, we comprehensively investigate 12 methods for calculating circular error probability (CEP). Using data processing techniques, we classify these methods into three categories: parameterization of one-dimensional variables, computation of bi-normal random variables, and numerical integration. From these methods, we develop algorithms and programs, which are subsequently applied in evaluating the positioning accuracy of INSs. Using the algorithms and programs, we perform simulations to evaluate applicability and evaluation accuracy under the same initial conditions. Practical test data are employed to validate the results. Using the comparison of the methods as bases, we draw practical conclusions regarding sample number and evaluation accuracy. Our results serve as theoretical reference for the development of new approaches to assess inertial positioning accuracy in accordance with relevant standards.