管道内检测导航定位技术  

Navigating and positioning technique for inner detection of pipeline

作　　者：杨理践[1] 李瑞强[1] 高松巍[1] 杨洋[1] 

机构地区：[1]沈阳工业大学信息科学与工程学院,沈阳110870

出　　处：《沈阳工业大学学报》2012年第4期427-432,共6页Journal of Shenyang University of Technology

基　　金：国家自然科学基金仪表专项基金资助项目(60927004);国家自然科学基金资助项目(61141004);十二五国家科技部支撑计划项目(2011BAK06B01-03)

摘　　要：针对管道内检测器在管道运行中的定位问题,提出了一种利用导航定位系统进行管道内检测器定位的辅助方法.当管道内检测器进行管道检测时,在管道内检测器上加装惯性导航器件(IMU)构成导航定位系统,将获得的导航定位信息和速度修正信息存储在存储器中.利用导航算法对数据进行处理,采用卡尔曼滤波器对误差进行修正,分析得出管道内检测器的姿态变化和位置变化信息.实验结果表明,通过计算能够获得实验模型运行的姿态变化信息,描绘出实验模型的行进轨迹,分析出实验模型对于初始位置的地理坐标变化情况,为工程实验提供了更多的参考信息.Aiming at the positioning problem of the inner detector of pipeline in the operating period, an auxiliary method for the positioning of the inner detector of pipeline with the navigating and positioning system was proposed. When the detection was carried out with the inner detector of pipeline, an inertial navigation device （IMU） was installed on the inner detector of pipeline to compose the navigating and positioning system. The acquired navigating and positioning information as well as velocity correction information were stored in the memorizer. The data were treated with the navigation algorithm, and the errors were corrected with the Kalman filter. And the variation information in both posture and position of the inner detector of pipeline was obtained through the analysis. The experimental results show that through the calculation, the variation information in the operating posture of experimental model can be attained, the traveling track of experimental model can be depicted, and the variation in the geographic coordinates of experimental model to the original location can be given, which can provide more reference information for the engineering experiments.

关 键 词：管道内检测 惯性导航 导航定位 卡尔曼滤波 误差修正 数据分析 惯性器件 地理坐标 

分 类 号：TN967.2[电子电信—信号与信息处理]