The present application discloses a health monitoring method of a positioning and speed measuring
system, including: obtaining the
full width at half maximum of the autocorrelation curve of the variables representing the state of the positioning and speed measuring
system; determining each
subdivision when subdividing the original matrix according to the
full width at half maximum and the number of variables The number of columns of the matrix, where the original matrix is composed of historical data of variables; the original matrix is subdivided into multiple
subdivision matrices according to the number of columns, and the multiple
subdivision matrices are reconstructed to obtain a
random matrix; the positioning is determined according to the
random matrix The average
spectral radius of the
speed measurement system; according to the relationship between the average
spectral radius and the preset threshold, determine whether the positioning
speed measurement system is healthy. This health monitoring method does not need to know the failure mode, degradation mode and internal mechanism of the positioning
speed measurement system, but only needs the historical data of the variable and the
full width at half maximum. It has the advantages of small amount of calculation and no prior knowledge. In addition, the present application also provides a health monitoring device, equipment and computer-readable storage medium having the above-mentioned advantages.