研究了利用管道清管器(PIG)搭载惯性测量单元(IMU)实现管道三维地理坐标测量的方法。该方法以捷联惯导系统(SINS)定位为主,并辅以校正信息的Kalman滤波估计算法来解决SINS计算的发散问题。首先,将测量装置搭载在PIG上,PIG在管道中运动的同时记录惯性信号。然后,经离线计算得到管道的三维地理坐标,并利用IMU的姿态倾角和里程轮速度对SINS计算的误差进行校正。最后,建立了9维状态量Kalman滤波模型方程,并利用扩展Kalman滤波算法进行求解。实验结果显示,该系统对于30 m管道的测量精度为0.28 m;表明通过加入校正算法,可以实现内检测条件下对管道三维地理坐标的精确测量。

A three dimensional geographic coordinate measuring method by using a Pipeline Inspection Gauge(PIG)carried with a Inertial Measurement Unit(IMU)is explored. The method uses a Strapdown Inertial Navigation System (SINS) to position and is accompanied by a Kalman filter estimation algorithm to correct information to solve the SINS divergence calculation problem. The measuring device is mounted in the PIG. The PIG records the inertial signals when the PIG moving in the pipeline. Then, three dimensional geographic coordinates are obtained by off-line calculation, and the attitude incline of the IMU and the speed of the odometer are used to correct the error of the SINS calculation. Finally, a nine dimensional Kalman filter model equation is established, and it is calculated by using the extended Kalman filter algorithm. The experiment for a 30 m pipeline shows that the measurement accuracy is 0.28 m, which indicates that the three dimensional geographic coordinate of the pipeline is able to be measured accurately in in-detecting conditions by the proposed correction algorithm.