基于组合导航技术的管道地理坐标定位算法

Geographical position locating algorithm for pipeline based on integrated navigation technique

针对长输管道地理坐标定位问题,提出了一种基于组合导航技术并应用管道磁标处地理信息进行分段修正的管道地理坐标定位算法.该算法基于惯导/里程仪组合导航的基本原理,应用误差模型对航迹误差进行修正.通过研究陀螺仪和里程仪的误差特性,建立了陀螺仪和里程仪的误差模型,针对低精度加速度计应用于惯性导航系统时存在速度和航迹解算误差较大的问题,提出了应用加速度信息对里程仪速度进行修正的速度解算方法.实验结果表明,算法解算所得位置误差为0.16%,可为长输管道提供三维地理坐标定位信息.

In order to realize the geographical position locating for long-distance pipeline, a geograplalcal position locating algrithm based on integrated navigation technology and with applying the gerographical information at the megnetic marks of pipeline to perform the sectional amendment was proposed. Based on the integrated strapdown inertial navigation system （SINS） and odometer （OD） navigation theory, the trajectory errors were corrected with the error models in the proposed algrithm. Through the research on the error characteristics of gyro and odometer, the error models for both gyro and odometer were established. In order to solve the problem that the errors of both velocity and trajectory calculation were large when the accelerometer with middle and low precision was used in the SINS, a velocity calculation method, where the odometer velocity was corrected with the acceleration information, was proposed. The experimental rcuslts show that the position error calculated with the proposed algorithm is 0. 16%, and the proposed algorithm can provide 3D geographical postion locating infromation for long-distance pipeline.