基于容积卡尔曼平滑滤波的管道缺陷定位技术  

The Pipeline Defect Location Technology Based on Cubature Kalman Smooth Filter

作　　者：杨理践[1] 李晖[1] 周福宁[1] 靳鹏[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：《传感技术学报》2015年第4期591-597,共7页Chinese Journal of Sensors and Actuators

基　　金：国家高技术研究发展计划863项目(2012AA040104);科技部国家重大仪表专项项目(2012YQ090175);十二五国家科技部支撑计划项目(2011BAK06B01-03)

摘　　要：针对管道测量系统MEMS惯性元件的漂移,且难于获得GPS信息进行有效误差累积抑制的问题,创建了管道测量系统9维系统状态误差方程和基于速度差和基准点位置差的观测方程,提出采用容积卡尔曼平滑滤波算法。该算法由以里程轮速度为观测量的正向容积卡尔曼滤波算法和以基准点位置为起点的反向平滑两级滤波组成,实现管道缺陷地理坐标的最优估计。管道缺陷定位实验结果表明,该算法能有效补偿长航时导航参数误差,10 km测量精度可以达到10-3数量级,能够满足管道内检测定位精度要求。Aiming at problems of navigation parameter endurance divergence of pipeline measurement system based on MEMS inertial components for long distance due to more difficult to access effectively to GPS information for correcting navigation errors in submarine pipeline. The cubature kalman smooth algorithm is put forward. The algorithm composes of two stage filters,one is the forward cubature kalman filter based on velocity difference between odometer wheel speed and navigation speed difference and second stage filter is backward kalman smooth filter with final reference points of pipeline measurements displacement being starting point of this stage filter to achieve the optimal estimation of pipeline defect geography coordinate. The results of pipeline geographical coordinates measurement experiments show that this method can effectively compensate the long-time navigation parameter errors,The measurement accuracy for 10 km long pipeline can reach the order of magnitude of 10-3that can meet the precision requirement of the pipeline detection location.

关 键 词：组合导航 管道定位 容积卡尔曼滤波 平滑滤波 定位误差校正 

分 类 号：TP274.5[自动化与计算机技术—检测技术与自动化装置]