“海底管线检修潜水器”管线位置信息重构及其自航模试验

The information reconstruction of pipeline position and self-propelled model test of the underwater vehicle for pipeline detection and maintenance

海底管线检修潜水器主要依靠管线探测系统给出的管线位置信息完成水下自动跟踪巡线、定位和作业。针对管线探测系统信息不佳甚至丢失问题 ,建立了基于扩展卡尔曼滤波的信息重构算法 ,通过对来自管线探测系统、惯导和GPS系统以及管线位置历史数据库的信息进行融合 ,不仅提高了管线位置信息的稳定性 ,而且可以在管线探测系统信息丢失的情况下短时间内重构管线位置信息 ,供自动控制系统使用。运用该算法进行了计算机仿真和自航模试验 。

The underwater vehicle for pipeline detection and maintenance discussed in this paper is designed to carry out automatic tracking and positioning of pipelines mainly by using the position information from a pipeline detection system. As this information is sometimes poor and even may be lost temporarily, an arithmetic of information reconstruction based on extended Kalman filter is established to merge the position information from the pipeline detection system, inertia & GPS systems and past records of pipeline position. This can not only improve the stability and accuracy of pipeline information but also reconstruct it in a short time when it is lost. Furthermore, the computer simulation and self propelled model test have been carried out, and the arithmetic is proved effective.