基于Markov模型的多传感器组合定位可靠性评估

Multi-sensor combination reliability assessment based on markov model

提出一种基于多传感器组合定位方案,该方案利用卫星定位模块、陀螺仪和里程计3种传感器不同的安装方法来实现数据采集,采用单元冗余与二取二系统冗余相结合的方式。针对卫星特点分析卫星定位的内部可靠性指标,同时根据陀螺仪测量单元冗余配置原则,提出采用4个双自由度的陀螺仪冗余配置方法。最后通过建立Markov模型对方案进行可靠性评估。分析结果表明:本文设计的组合定位方案其MTBF(平均故障时间间隔)为10~5 h,满足可靠性需求,与传统的二取二定位方案相比,其可靠性提高了30%。

This paper presents a locating scheme based on the combination of multi-sensors.Taking advantage of different installation methods of three kinds of sensors such as satellite positioning module,gyroscopes and odometer,this scheme can accomplish data acquisition.The combination of unit redundancy and2-out-of-2redundancy structure was adopted.The paper analyse the internal reliability of the satellite positioning according to the satellite’s characteristic,and also put forward a redundant configuration method using four pairs of gyroscope.Finally,a Markov model was established to evaluate the reliability of the program.Analysis shows that the MTBF of this integrated positioning scheme(Mean Time Between Failures)is105h,which meets the requirements of reliability.Compared with the traditional2-out-of-2positioning program,its reliability increases by30%.