摘要
利用管道清管器(简称PIG)携带捷联惯导系统可得到管道的详细地理位置信息,计算的累积误差造成终止点偏离给定位置。针对此问题,采用终止点校正方法,根据离线计算的特点,先按时间先后顺序计算管道位置,再将数据反向计算一次,结合两次计算的结果,得到最佳估计值。搭建模拟实验平台对算法进行了实验验证,结果表明,经过终止点校正后有效利用了所有计算信息,使计算的终止点与已知点重合,将定位精度提高了1/5,该方法具有一定的实用性。
Using the pipeline pigging（referred as PIG） carried with a strapdown inertial system can get the detailed location information of the pipeline. The calculation of accumulated error eased the termination point deviating from the given position. In view of the issue, the end point correction method was proposed. According to the offline calculation features, calculate the position in accordance with the chronological order, then reverse the order and calculate the data again, earn the optimal estimate after combine with the two calculated results. It built the simulated platform for experimental verification for the algorithm. The results show that it is effectively to use all computing information after the end point correction, so that the end point is coincide with the known point, the location accuracy is improved, the method has a certain practicality.
出处
《仪表技术与传感器》
CSCD
北大核心
2013年第9期89-91,106,共4页
Instrument Technique and Sensor
基金
国家自然科学基金资助项目(60927004
61141004)
十二五国家科技部支撑计划资助项目(2011BAK06B01-03)
