传感技术学报2016，Vol.29Issue(1)：40-44,5.DOI:10.3969/j.issn.1004-1699.2016.01.008
采用MEMS惯导的小口径管道内检测定位方案可行性研究
Study on the Posibility of the PIG Positioning Using MEMS-based IMU
摘要
Abstract
MEMS-based inertial integrated algorithm for the pipeline surveying that combines updates such as pipe-line odometer,ground RFID and the motion constraint(e.g. non-holonomic constraint)is proposed in this paper to meet the urgent demand of low-cost and small-size pipeline surveying system. STIM3000,a classical MEMS IMU,is used to validate the proposed solution,and the contribution to positioning accuracy improvement of odometer,motion con-straint and optimal smoothing algorithm is quantitatively analyzed. Simulation results show that 3-D position of meter accuracy can be obtained based on the proposed algorithm even for a 2 000-m-long pipeline,which meets the position-ing accuracy requirement of the pipeline surveying. Odometer measurement and motion constraint are proved to be ef-fective updates to guarantee the above accuracy,and smoothing algorithm can make further accuracy improvement.关键词
惯性导航系统(INS)/管道测量/扩展卡尔曼滤波/反向平滑/MEMSIMUKey words
INS/pipeline measurement/EKF/reverse smoothing/MEMS IMU分类
交通工程引用本文复制引用
牛小骥,旷俭,陈起金..采用MEMS惯导的小口径管道内检测定位方案可行性研究[J].传感技术学报,2016,29(1):40-44,5.基金项目
国家自然科学基金项目(41404029,41174028,41304004) （41404029,41174028,41304004）
中央高校基本科研业务费专项资金——武汉大学自主科研项目(学科交叉类,2042014kf0258) （学科交叉类,2042014kf0258）
