基于低频电磁波的管道机器人定位技术

Localization Technique of Pipeline Robot Based on Low Frequency Electromagnetic Wave

针对浅海海底泥面下管道维护要求及管道对普通电磁波的屏蔽特点,给出了基于磁偶极子模型的超低频电磁波磁场分布,提出了基于超低频电磁波的多传感器管道机器人示踪定位模型。根据超低频电磁波磁场对称分布的特点,给出了求解低频电磁波发射源位置参数的DLM离散非线性最小二乘迭代算法,及迭代算法的初值计算方法。实验表明,用该迭代初值进行DLM迭代,能够收敛到期望的局部最小值,能够计算超低频波发射源的位置,实现管道机器人的示踪定位问题。

According to the localization requirement of sea-bed pipeline inspection robot and the shield character of metal pipe, the magnetic distribution of ultra low frequency electromagnetic wave is presented based on magnetic dipole. The pipeline robot localization system takes multi-sensor to receive the low frequency electromagnetic wave signal, The discrete Levenberg-marquardt NLS algorithm is used to estimate the localization parameter of emission antenna mounted on the pipeline robot. According to the magnetic field distribution, an algorithm is presented to get the initial values for DLM algorithm. The experiments results show that the DLM algorithm can converge to expectancy values and estimate the emission antenna＇s location parameters to localization the pipeline robot.