惯性/里程计组合导航技术在管道定位中的应用

石油天然气管道担负着油气传输的重任， 定期对传输管道检测能使其安全、高效地运行。为此设计了管道导航定位系统，用于对管道探伤位置的精确定位。管道导航定位系统主要由激光捷联惯性导航系统与里程计组成，搭载在管道检测设备中。通过测量、存储检测过程中的传感器信息，在检测结束后离线处理数据，得到管道导航定位信息。通过对惯性/里程计分别进行误差分析与建模， 搭建了组合导航系统卡尔曼滤波器模型， 进行了跑车试验与实际管道定位试验。试验结果表明该惯性/里程计组合导航管道定位精度满足管道高精度定位要求。

SINS /Odometer Integrated Navigation Technologyin the Pipeline Positioning

The piping carries the responsibility in the oil spirit deliver; periodically carrying on an examination canmake piping safe and circulate efficiently. In this paper, we designed piping navigation system used for exploring an accuratefixed position of the pipeline. This system mainly consists the laser strapdown inertial navigation system andodometer, installing in the piping examination system. The examination system measures and saves the sensor informationand processes data after examination. This paper builds the combination navigation system kalman filter model bycarrying on error analysis on SINS/odometer, and finally carries on actual experiment. Experiment result shows the SINS/odometer integrated navigation positioning accuracy can meet the requirement of high precision positioning pipe.