基于多传感器数据融合的管道机器人精确定位技术  

Precision Location Technology of Pipeline Robot Based on Multi-Sensor Data Fusion

作　　者：王忠巍[1] 曹其新[2] 栾楠[1] 张蕾[1] 

机构地区：[1]上海交通大学机器人研究所,上海200240 [2]上海交通大学机械系统与振动国家重点实验室,上海200240

出　　处：《机器人》2008年第3期238-241,共4页Robot

基　　金：国家863计划资助项目(2001AA602021)

摘　　要：针对自主管道检测机器人的管内定位问题,提出了一种能够提高定位精度的多里程仪测量数据一致性融合方法.首先基于置信距离测度概念构造了多里程仪测量数据之间的置信距离矩阵和关系矩阵,然后利用有向图方法剔除含有较大误差的或错误的测量数据,最后采用极大似然估计法求解多里程仪测量数据的最优融合值.在管道机器人智能控制器上使用C语言编程实现文中算法.在机器人的自主爬行实验过程中,通过测量模拟油气管道的焊缝间距验证了该算法的有效性.A consensus fusion algorithm for multi-odometer data is presented to improve,in-pipeline location precision of the autonomous pipeline inspection robot. Based on the concept of confidence distance measure, the confidence distance matrix and relation matrix for multi-odometer data is constructed firstly. And then line digraoh is used to eliminate biggish inaccuracy or error of the measured data. At last, optimal fusion value of multi-odometer data is obtained by maximum likelihood estimate. Running on the intelligent controller of pipeline robot, the presented algorithm is realized with C programming language. In autonomous crawling experiment of the robot, validity of the localization method is proved by measuring space intervals between girth welds in simulative oil-and-gas pipeline.

关 键 词：管道机器人 里程仪 数据融合 置信距离测度 极大似然估计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]