Mapping Probe Position Tracking Using Kalman Filter
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing systems for locating and mapping underground pipelines, such as tap water and sewer pipelines, do not effectively collect and utilize real-time position information of mapping probes to accurately determine pipeline positions.
Innovation Solution
A method employing acceleration sensors, gyro sensors, and a controller to estimate Euler angles and three-dimensional position information using a Kalman filter, combined with movement distance data from an encoder, to track the mapping probe's position within the pipeline and map it to geographic information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If mapping probe position is tracked using simple pressure gauges, then the system structure is simple, but position accuracy is insufficient
Solution Approach 1:
The patent replaces mechanical pressure gauge-based position tracking with an electronic sensor system comprising acceleration sensors, gyro sensors, and encoders. These electronic sensors provide more precise position measurement through digital signal processing, substituting the mechanical measurement system with an electronic one that offers superior accuracy while enabling real-time tracking.
Solution Approach 2:
The patent introduces a controller as an intermediary component that processes data from multiple sensors (acceleration sensors, gyro sensors, encoders) and integrates this information to calculate probe position. This intermediary processing layer combines multiple measurement sources to achieve high position accuracy while managing system complexity through centralized control.
2Measurement precision
If real-time position tracking is implemented using multiple sensors, then position accuracy is improved, but energy consumption increases
Solution Approach 1:
The patent implements periodic sampling of sensor data rather than continuous measurement. The controller periodically reads acceleration sensor, gyro sensor, and encoder data at optimized intervals, processing position information only when necessary. This periodic operation reduces energy consumption compared to continuous real-time processing while still providing accurate position tracking at critical moments.
3Reliability
If mapping probe is moved through pipeline using water flow, then the method is simple, but position tracking reliability is insufficient
Solution Approach 1:
The patent merges multiple independent sensing functions into a unified tracking system. Acceleration sensors detect linear motion, gyro sensors detect rotational orientation, and encoders measure displacement. By combining these multiple sensing modalities and integrating their data through a controller, the system achieves reliable position tracking that compensates for limitations of individual sensors, thereby improving overall tracking reliability.
4Measurement precision
If Euler angle estimation and Kalman filtering are applied, then position estimation accuracy is improved, but computational complexity increases
Solution Approach 1:
The patent performs preliminary calculations of Euler angles from acceleration and gyro sensor data before applying Kalman filtering. By pre-processing sensor data to extract orientation information and preparing state vectors in advance, the system reduces the computational burden during real-time position estimation. This preliminary action allows the computationally intensive Kalman filter to operate more efficiently on pre-processed data.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate real-time tracking and mapping of underground pipeline positions, regardless of depth or facility type, ensuring reliable data collection and precise location determination.
Implementation Method 1
receiving movement distance information of the mapping probe from an encoder in the mapping probe
Implementation Method 2
receiving acceleration information and angular information in real time from acceleration sensors and gyro sensors
Implementation Method 3
receiving acceleration information and angular information in real time from acceleration sensors and gyro sensors
Implementation Method 4
estimating three-dimensional position information of the mapping probe in real time on the basis of a three-dimensional position information model, covariance, and movement distance information received from the encoder
Data Source
AI summary
A method of tracing a position of a pipeline using a mapping probe includes: inserting and moving the mapping probe in a pipeline; receiving and keeping acceleration information and angular information in real time in a memory; estimating Euler angle (roll and pitch); estimating Euler angle (roll, pitch, and yaw); estimating a system modeling; estimating and applying covariance of system noise and covariance of measured noise; estimating three-dimensional position information modeling; receiving and keeping movement distance information of the mapping probe from an encoder in a memory; estimating and keeping in real time three-dimensional position information of the mapping probe in the memory; receiving the accumulated real-time three-dimensional position information of the mapping probe; mapping the accumulated real-time three-dimensional position information of the mapping probe to geographic information; and displaying the accumulated position information of the mapping probe mapped to the geographic information on a display unit.