基于逆向解算的管道检测高精度定位方法
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摘要
针对埋地管道检测中需要精确确定管道变形、位移等处的位置问题,提出基于逆向解算的管道检测高精度定位方法。基于惯性导航系统误差传播特性,将检测过程中惯性元件陀螺、加速计以及里程计的输出作为一个时间序列,依据检测过程中的标记点将检测过程分段,相邻两个标记点间为一段,以标记点为起始点分别做正向和逆向的导航解算,以每段的中间时刻为分割点,分别将正向解算的前二分之一数据和逆向解算的前二分之一数据作为系统的定位结果,从根本上降低系统的误差积累,提高系统的定位精度。采用实测数据将提出的方法与常用定位方法进行了比较,所提出的方法的最大定位误差为3 m,验证了方法的有效性。
Aiming at the problem of accurately determining the position of pipeline deformation and displacement, etc. in the detection of buried pipelines, a high-precision positioning method for pipeline inspection based on inverse solution is proposed. Based on the error propagation characteristics of the inertial navigation system, this method uses the output of the inertial elements gyros, accelerometers, and odometers as a time sequence. The method also segments the detection process according to the points in the detection process. The interval between two adjacent marked points is a single paragraph, and the forward and reverse navigation solutions are respectively calculated with the marked point as the starting point. The middle point of each segment is used as the segmentation point, and the half of the forward solution and the inverse solution are respectively divided. As a result of the system positioning, the systematic error accumulation is fundamentally reduced, and the positioning accuracy of the system is improved. The current method is compared with common positioning methods, and the validity of the proposed method is verified with the maximum positioning error being 3 m.
Aiming at the problem of accurately determining the position of pipeline deformation and displacement, etc. in the detection of buried pipelines, a high-precision positioning method for pipeline inspection based on inverse solution is proposed. Based on the error propagation characteristics of the inertial navigation system, this method uses the output of the inertial elements gyros, accelerometers, and odometers as a time sequence. The method also segments the detection process according to the points in the detection process. The interval between two adjacent marked points is a single paragraph, and the forward and reverse navigation solutions are respectively calculated with the marked point as the starting point. The middle point of each segment is used as the segmentation point, and the half of the forward solution and the inverse solution are respectively divided. As a result of the system positioning, the systematic error accumulation is fundamentally reduced, and the positioning accuracy of the system is improved. The current method is compared with common positioning methods, and the validity of the proposed method is verified with the maximum positioning error being 3 m.
引文
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[2]Cui B B, Chen X Y, Xu Y, et al. Performance analysis of improvediteratedcubatureKalmanfilterandits application to GNSS/INS[J]. ISA Transactions, 2017, 66:460-468.
[3]Zhou W D, Hou J X, Liu L, et al. Design and simulation oftheintegratednavigationsystembasedonextended Kalman filter[J]. Open Physics, 2017, 15(1):182-187.
[4]Pasha S A, Hoang D T, Vo B N. Nonlinear Baysian filtering usingtheunscentedlinearfractionaltransformation model[J].IEEETransactionsonSignalProcessing,2013,58(2):477-489.
[5]GustafssonF.Particlefiltertheoryandpracticewith positioningapplications[J].IEEEAerospaceandElectronic Systems Magazine, 2015, 25(7):53-82.
[6]郭玉胜,付梦印,等.惯性/卫星/里程计多信息融合方法及在铁路测绘中的应用[J].中国惯性技术学报,2017, 25(3):334-337.Guo Y S, Fu M Y, et al. Multi-information fusion method ofINS/Odometer/GNSSanditsapplicationinrailway surveyingandmapping[J].JournalofChineseInertial Technology, 2017, 25(3):334-337.
[7]麦晓明,朱庄生,彭向阳,等.多传感器无人机电力线路巡检POS系统[J].中国惯性技术学报,2015,23(1):20-23.MaiXM,ZhuZS,PengXY,etal.Positionand orientationsystemforoverheadpower-lineinspection usingmulti-sensorintegratedunmannedaerialvehicles[J]. Journal of Chinese Inertial Technology, 2015, 23(1):20-23.
[8]傅忠尧.油气管道内检测常用方法[J].装备制造技术,2015(1):206-208.Fu Z Y. Commonly used methods in oil and gas pipeline inspection[J].EquipmentManufacturingTechnology,2015(1):206-208.
[9]Xia L L, Meng Q Y, Liu H M, et al. Neural network collaborativestrongtrackingfilteringforvehiculartightlycoupledMIMUs/GPS[J].JournalofChineseInertial Technology, 2017, 25(3):320-327.
[10]Panev A A, Vavilova N B. The navigation problem for a pipeline inspection system[J]. Moscow University Mechanics Bulletin, 2011, 66(1):13-15.
[11]李士心,黄凤荣,邱时前,等.基于自适应强跟踪滤波的捷联惯导/里程计组合导航方法[J].中国惯性技术学报, 2018, 26(2):156-161.Li S X, Huang F R, Qiu S Q, et al. SINS/Odometer integratednavigationmethodbasedonadaptivestrongtrackingfilter[J].JournalofChineseInertialTechnology,2018, 26(2):156-161.
[12]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.Niu XJ,KuangJ,ChenQJ.Studyonthepossibilityof the PIG positioning using MEMS-based IMU[J]. Chinese Journal of Sensor and Actuators, 2016, 29(1):40-44.