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Combination navigation method of inertial navigation odometer for pipeline surveying and mapping

A combined navigation and odometer technology used in mapping and navigation, navigation, navigation through velocity/acceleration measurements, etc.

Active Publication Date: 2014-04-16
BEIJING AUTOMATION CONTROL EQUIP INST
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since oil and gas pipelines are generally laid below the surface, it is difficult to measure their specific position and pipeline trajectory through effective high-precision positioning devices

Method used

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  • Combination navigation method of inertial navigation odometer for pipeline surveying and mapping
  • Combination navigation method of inertial navigation odometer for pipeline surveying and mapping
  • Combination navigation method of inertial navigation odometer for pipeline surveying and mapping

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Embodiment Construction

[0096] The present invention is described in detail below in conjunction with accompanying drawing and specific embodiment:

[0097] First, use the position information of the initial point for initial setting, and then carry out forward navigation calculation, dead reckoning and Kalman filtering. During the whole filtering process, three velocity errors and three misalignment angles are closed-loop corrected. When calculating At the end of the data, continue to perform reverse navigation calculation, dead reckoning and Kalman filtering. After completing a complete forward and reverse joint navigation and filtering, make a correction to the following errors, including: inertial navigation system Gyro drift, accelerometer zero bias, odometer position error, odometer installation error angle and odometer scale coefficient error, then continue forward navigation and filtering, and save the inertial navigation system attitude matrix, odometer displacement increment And combined na...

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Abstract

The invention belongs to a navigation method, and particularly relates to a combination navigation method of an inertial navigation odometer for pipeline surveying and mapping. The method comprises steps as follows: 1), establishment of a calculation model; 2), calculation of a navigation position; 3), establishment of a Kalman filter model; 4), reverse treatment; and 5), correction of a mark point. The combination navigation method has the advantages as follows: the provided combination navigation method of the inertial navigation odometer for pipeline surveying and mapping recycles whole test data, all errors of an inertial navigation system and an odometer are estimated and compensated through forward and reverse combination navigation filtering, then a track is further corrected in combination of the mark point position information, and finally, high-precision pipeline track data are obtained.

Description

technical field [0001] The invention belongs to a navigation method, in particular to an inertial navigation odometer combined navigation method for pipeline surveying and mapping, which can be applied in the field of oil and gas pipeline surveying and mapping, and can effectively use detection data to accurately estimate the errors of the inertial navigation system and the odometer And compensation, greatly improving the measurement accuracy of the pipeline trajectory. Background technique [0002] In order to ensure the safety of oil and gas pipelines, oil and gas pipelines need to be inspected regularly to obtain data such as pipeline trajectories. Since oil and gas pipelines are generally laid below the surface, it is difficult to measure their specific position and pipeline trajectory through effective high-precision positioning devices. The inertial navigation system is a relatively effective measuring device, which has the characteristics of full autonomy and is not ...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C25/00
CPCG01C21/165G01C21/20
Inventor 李海军徐海刚姜述明闫春新朱红裴玉锋李瑞贤刘冲郭元江李昂王根
Owner BEIJING AUTOMATION CONTROL EQUIP INST
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