Comprehensive assessment algorithm for calculating CEP of positioning accuracy

This study aims to evaluate the inertial navigation systems' performance. To this end, we comprehensively investigate 12 methods for calculating the 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 navigation systems. 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 put forward a comprehensive practical method regarding sample number and evaluation accuracy. Our results serve as a theoretical reference for the development of different approaches to assessing inertial positioning accuracy in accordance with applicable standards.