基于逆向解算的管道检测高精度定位方法  

High-accuracy positioning method based on reverse navigation solution in pipeline detection

作　　者：黄凤荣 孙凌宇[1] 郭兰申[1] 李扬 钱法 HUANG Fengrong, SUN Lingyu, GUO Lanshen, LI Yang, QIAN Fa(School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, China)

机构地区：[1]河北工业大学机械工程学院,天津300401

出　　处：《中国惯性技术学报》2018年第4期435-439,共5页Journal of Chinese Inertial Technology

基　　金：河北省应用基础研究计划重点基础资助项目(17961820D)

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.

关 键 词：管道检测 误差传播特性 逆向解算 卡尔曼滤波 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]