基于惯性/里程计组合导航的管道定位仿真分析

管道在油气传输中有着非常重要的地位,关乎着生命与财产安全,定期对传输管道进行检测能使管道安全、高效地运行.对管道损伤点进行精确定位,是修复管道缺陷所必需的.本文仿真了检测设备在管道中的运行轨迹,并加入了检测设备在管道中滚转运动和长时间导航下陀螺刻度系数漂移的影响,搭建了基于惯性/里程计组合导航的仿真模型.通过实际仿真发现,利用磁标点校正、卡尔曼滤波、磁标二点间误差修正和起点与终点误差修正,能有效提高管道中定位精度.

Simulation Analysis of Pipeline Positioning SINS/ Odometer Integrated Navigation

In the oil and gas transmission pipeline has a very important position, in relation to the life and property safety. Regular to test the transmission pipeline can make the operation of the pipeline can make the operation of the pipeline security and efficiently. For precise positioning of pipeline damage point is necessary to repair pipeline defect. This paper simulate the testing equipments in the pipeline running track with the testing equipment in the pipes in roll motion and the gyro drift calibration coefficient in long time navigation. This paper build the SINS/ Odometer integrated navigation. Through the simulation found that using mark correction, kalman filter , two mark points correction and the starting and ending point error correction can effectively improve the positioning accuracy in pipeline.