Optimization method of pipeline surveying and mapping internal inspection IMU data preprocessing

Abstract

The invention discloses an optimization method of pipeline surveying and mapping internal inspection IMU data preprocessing. The method comprises the following steps: firstly, determining an estimatedvalue of an initial attitude angle of an IMU by measuring a physical dimension of a ball serving barrel; then performing initial alignment of a static base by using two iterative filtering data to becompared to respectively obtain a course angle and an elevation angle, and calculating alignment errors of the course angle and the elevation angle; and then using a difference value of absolute values of the alignment errors as a criterion to evaluate the effect of the twice iterative filtering. By adoption of the method, the filtering effects of different iterations can be compared to a certainextent to prompt the over-filtering situation and to optimize the preprocessing algorithm. Compared with the manner of directly comparing the matching degree of a solution trajectory and a checkpoint, the method is more efficient, the most of confounding factors are removed from the iteration for terminating the iteration, the method is more convincing, the over-filtering situation is basically avoided, and the optimization of the data preprocessing algorithm is achieved.

Description

technical field [0001] The invention relates to a method for preprocessing raw data output by an IMU subsystem of a pipeline surveying and mapping internal detection device, specifically a time-domain denoising method that first needs to be performed when the raw output data of the IMU is processed off-line. Background technique [0002] 1. In-line detection in pipeline surveying and mapping [0003] The in-pipe inspection device (PIG) ​​can measure the defect or deformation of the pipeline during the movement in the pipeline. Pipelines and in-pipeline detection systems have positioning requirements for pipeline-related objects, and surveying and mapping projects need to be implemented. [0004] The internal inspection of pipeline surveying and mapping based on inertial technology is currently the main method of pipeline engineering surveying and mapping in the world. Under the normal operation state of the pipeline, the three-dimensional coordinates of the pipeline can be...

AI Technical Summary

Problems solved by technology

[0011] 3. Limitations of Existing Methods

The amount of calculation is large, the evaluation process requires a lot of manual intervention, the efficiency is low, and it is difficult to form a clear judgment criterion

[0015] 2) There are many confounding factors in the evaluation

Moreover, engineering practice has proved that even if the trajectory of a certain pipe section matches the calibration point very well, the matching situation may deteriorate in the next section.

Even if the matching of all checkpoints is very good, it does not actually prove that the denoising of the original data has been done to the best

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