CN112082546B - Data post-processing method for optical fiber pipeline measuring device - Google Patents
Data post-processing method for optical fiber pipeline measuring device Download PDFInfo
- Publication number
- CN112082546B CN112082546B CN202010843320.9A CN202010843320A CN112082546B CN 112082546 B CN112082546 B CN 112082546B CN 202010843320 A CN202010843320 A CN 202010843320A CN 112082546 B CN112082546 B CN 112082546B
- Authority
- CN
- China
- Prior art keywords
- error
- wheel
- measuring device
- dead reckoning
- mileage wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The invention provides a data post-processing method of an optical fiber pipeline measuring device, which comprises the following steps: preprocessing the voltage of the mileage wheel to obtain the preprocessed digital quantity of the mileage wheel; acquiring position information of the measuring device at the time of the landmark points according to the landmark point file and the original storage data; performing shaking base self-alignment according to the position information of the measuring device at the time of the road sign point and the original stored data; performing Kalman filtering integrated navigation of inertia/mileage wheel/road mark points according to the processed mileage wheel digital quantity, the position information of the measuring device at the road mark point moment and the original stored data to obtain a navigation filtering result; and carrying out dead reckoning according to the navigation filtering result, and carrying out iterative correction of dead reckoning by using each road mark point to finish data post-processing of the optical fiber pipeline measuring device. By applying the technical scheme of the invention, the technical problems of insufficient fault tolerance and accuracy of the data post-processing algorithm of the optical fiber pipeline measuring device in the prior art can be solved, so that the engineering application requirements can be met.
Description
Technical Field
The invention relates to the technical field of inertial navigation, in particular to a data post-processing method of an optical fiber pipeline measuring device.
Background
In the service life of petroleum, natural gas, water supply pipelines and the like, detection equipment is required to be adopted for regular maintenance. The pipeline measuring device can accurately map and draw a petroleum pipeline curve by using inertia, mileage wheel and road sign point (i.e. Mark point) information through a certain processing method, and is an important component of a detection system. And by matching with other equipment such as magnetic flux leakage detection and the like, whether the pipeline is abnormally deformed or not can be judged, and the accurate position of the damaged part of the pipeline is recorded so as to facilitate excavation and maintenance.
At present, a user puts higher requirements on post-processing precision, the general requirements are less than 3m/1000m, and the precision requirement is higher if the requirement for measuring relative deformation exists. However, the pipeline diameter of part of the pipeline is small, and the precision of the selectable inertia device is limited. And the use environment has characteristics such as temperature variation is violent, big impact and high magnetic field in the pipeline, and the mileage wheel has the condition such as skidding and jump, further influences the navigation accuracy. Under the condition that the precision of the inertial device and the mileage information is limited, the post-processing precision depends on the fault tolerance and the rationality of post-processing algorithm software. The fault tolerance and the precision of the data post-processing algorithm of the optical fiber pipeline measuring device in the prior art are insufficient to meet the engineering requirements.
Disclosure of Invention
The invention provides a data post-processing method of an optical fiber pipeline measuring device, which can solve the technical problems of insufficient fault tolerance and accuracy of a data post-processing algorithm of the optical fiber pipeline measuring device in the prior art so as to meet the engineering application requirements.
The invention provides a data post-processing method of an optical fiber pipeline measuring device, which comprises the following steps: preprocessing the voltage of a mileage wheel in original storage data of the optical fiber pipeline measuring device to obtain the number quantity of the preprocessed mileage wheel; acquiring position information of the measuring device at the landmark point moment according to the landmark point file and the original storage data; step three, shaking base self-alignment is carried out according to the position information of the measuring device at the time of the road sign point and the original storage data to determine an initial posture; fourthly, performing Kalman filtering integrated navigation of inertia/mileage wheel/road mark points according to the processed mileage wheel digital quantity, the position information of the measuring device at the road mark point moment and the original stored data to obtain a navigation filtering result; and fifthly, carrying out dead reckoning according to the navigation filtering result, and carrying out iterative correction of dead reckoning by using each road mark point to finish data post-processing of the optical fiber pipeline measuring device.
Further, the first step specifically comprises: 1.1 Reading the mileage wheel voltage from the original stored data, and taking continuous m mileage wheel voltage values as a group to record the mileage wheel voltage in a sliding way, wherein m is an odd number and is more than or equal to 5;1.2 To determine the first of two adjacent mileage wheel voltages
Voltage value of mileage wheel and the second group
The level of the voltage value of the mileage wheel is higher or lower than that of the previous group
Voltage value of mileage wheel and the second group
If the voltage value of each mile wheel is a triangular wave point with opposite high and low, the first mile wheel voltage value of the previous group is recorded
The time corresponding to the voltage value of each mileage wheel and the first mile wheel of the previous group
Recording the voltage value of each mileage wheel as a corresponding digital value; otherwise, entering step 1.3); 1.3 Sliding to the subsequent two adjacent groups of mileage wheel voltages, and repeating the steps 1.2 to 1.3 until the judgment of all the mileage wheel voltage groups is completed to obtain the preprocessed mileage wheel digital quantity.
Further, the fourth step specifically includes: 4.1 A system state equation, an observation equation of inertia/mileage wheel combined navigation, a landmark point observation equation and an error estimation correction equation are constructed according to the processed mileage wheel digital quantity, the position information of the measuring device at the landmark point moment and the original stored data; 4.2 According to a system state equation, an observation equation of inertia/mile wheel integrated navigation, a landmark point observation equation and an error estimation correction equation, i +1 times of forward navigation Kalman filtering and i times of reverse navigation Kalman filtering are alternately performed in sequence to obtain a navigation filtering result, wherein i is more than or equal to 1,i which is an integer.
Further, in step 4.1, the fiber channel measuring device data post-processing method is based on
A system state equation is constructed in which,
is the differentiation of the state quantity, A is the system state transition matrix, w is the system noise, X is the system error state quantity, X = [ Δ V ] n ΔV u ΔV e Φ n Φ u Φ e ΔL D Δh D Δλ D ▽ x ▽ y ▽ z ε x ε y ε z Θ Y Θ Z ΔK D ]，ΔV n 、ΔV u And Δ V e Respectively, north, vertical and east velocity errors of inertial navigation, phi n 、Φ u And phi e Respectively, inertial navigation north, vertical and east misalignment angle errors, Δ L D 、Δh D 、Δλ D Latitude, longitude, and altitude errors for inertial navigation/odometer combination navigation, respectively x 、▽ y And + z Are respectively inertial navigation X-axis, Y-axis and Z-axis accelerometers with zero offset epsilon x 、ε y And epsilon z Gyroscopic drifts theta of inertial navigation X-axis, Y-axis and Z-axis respectively Y And Θ Z Respectively, the installation error angle, delta K, between the inertial navigation wheel and the mileage wheel along the Y axis and the Z axis of the inertial navigation D Is the odometer wheel scale factor error.
Further, in step 4.1, the fiber channel measuring device data post-processing method is based on
Constructing an observation equation of inertia/mileage wheel combined navigation according to
Constructing a road sign point observation equation, wherein V N 、V U And V E Respectively the north, the sky and the east speeds of inertial navigation, V Dn 、V Du And V De Respectively the north, the sky and the east components of the velocity of the mile wheel, V D In order to determine the speed of the mileage wheel,
an inertial navigation attitude matrix from a carrier b system to a geography n system; l is Ins 、h Ins And λ Ins Latitude, altitude and longitude, L, respectively, of a combined navigation Mark 、h Mark And λ Mark Respectively, the latitude, altitude and longitude of the waypoint.
Further, in step 4.1, the fiber channel measuring device data post-processing method is based on
Constructing an error estimation correction equation, wherein K D For the modified odometer wheel scale factor, K D' To be the mileage wheel scale factor before correction,
the odometer wheel attitude matrix from geography n to the odometer wheel odo,
the error matrix is installed from the carrier b to the mileage wheel odo,
is the inertial navigation attitude matrix from the geography n system to the carrier b system.
Further, the fifth step specifically includes: 5.1 Performing dead reckoning on the first landmark point according to the navigation filtering result to obtain a dead reckoning position of the current landmark point; 5.2 Solving a comprehensive azimuth error, a mileage wheel scale factor error and a pitch error between an inertial navigation wheel and a mileage wheel according to the position information of the current landmark point and the dead reckoning position; 5.3 Judging whether the latitude, longitude and altitude of the current landmark point dead reckoning all meet the threshold requirement according to the position information of the current landmark point and the dead reckoning position, and entering step 5.4) if the latitude, longitude and altitude of the current landmark point dead reckoning all meet the threshold requirement; otherwise, compensating the position error, the pitch error and the odometer wheel scale factor error, performing the dead reckoning of the current landmark point again, and repeating the steps from 5.2 to 5.3 until the latitude, the longitude and the altitude of the dead reckoning of the current landmark point meet the threshold requirements; 5.4 Positioning the current landmark point as the initial position, performing dead reckoning on the next landmark point, and repeating the steps from 5.2 to 5.4 until dead reckoning of all landmark points is completed so as to complete data post-processing of the optical fiber pipeline measuring device.
Further, in step 5.2, the optical fiber pipeline measuring device data post-processing method is based on
Resolving the combined azimuth error, odometer wheel scale factor error and inertial navigation and odometer wheel pitch error, wherein phi DU +α ψ To synthesize the azimuth error, α θ For pitch mounting errors between inertial navigation and odometer wheels, Δ S DN And S DN Respectively, the error of the north displacement and the true north displacement, delta S, obtained by dead reckoning DE And S DE East displacement error and true east displacement, Δ S, obtained by dead reckoning DU And S DU Respectively, the vertical displacement error and the true vertical displacement obtained by dead reckoning, S D And calculating the dead reckoning distance between the two landmark points.
Further, in step 5.3, the fiber channel measuring device data post-processing method is based on
Compensating for the combined bearing error, odometer wheel scale factor error, and inertial navigation and odometer wheel pitch error, wherein,
inertial navigation from geography n system to carrier b system after error compensationAttitude matrix, S D1 And calculating the dead reckoning distance between the two paths of punctuations after error compensation.
Further, after step 5.3, the method for post-processing data of the fiber channel measuring device further comprises: according to
Correcting the current waypoint dead reckoning latitude, altitude and longitude to improve the accuracy of the current waypoint dead reckoning position, wherein L' D 、h' D And λ' D Respectively the latitude, altitude and longitude, L of the current waypoint dead reckoning before correction D 、h D And λ D Respectively the corrected latitude, altitude and longitude of the current landmark point dead reckoning, S is the dead reckoning distance from the previous landmark point to the path point, R M And R N The radius of the meridian plane of the earth and the radius of the prime plane of the earth are respectively.
By applying the technical scheme of the invention, the data post-processing method of the optical fiber pipeline measuring device is provided, and the fault tolerance and precision of post-processing of surveying and mapping data of the pipeline measuring device can be improved by effectively utilizing the mileage wheel information and the landmark point information to carry out Kalman filtering combined navigation and dead reckoning iterative correction of inertia/mileage wheel/landmark point. Compared with the prior art, the technical scheme of the invention can solve the technical problems of insufficient fault tolerance and accuracy of the data post-processing algorithm of the optical fiber pipeline measuring device in the prior art so as to meet the engineering application requirements.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a flow chart illustrating a method for post-processing data of a fiber optic pipeline measurement device according to an embodiment of the present invention;
FIG. 2 illustrates a pre-odometry wheel voltage pre-processing schematic provided in accordance with a specific embodiment of the invention;
FIG. 3 illustrates a graph of a odometer wheel voltage pre-processing provided in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a forward and reverse navigation post-processing calculation flow according to an embodiment of the present invention;
FIG. 5 illustrates a graph of a odometer wheel scale factor error estimate provided in accordance with a particular embodiment of the invention;
FIG. 6 is a graph illustrating an estimate of the mounting error between the inertial navigation and odometer wheels along the inertial navigation Y-axis and Z-axis, according to an embodiment of the present invention;
FIG. 7 illustrates a post-processing display curve provided in accordance with a specific embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
As shown in fig. 1, according to an embodiment of the present invention, a method for post-processing data of an optical fiber pipeline measuring device is provided, where the method for post-processing data of an optical fiber pipeline measuring device includes: preprocessing the voltage of a mileage wheel in original storage data of the optical fiber pipeline measuring device to obtain the number quantity of the preprocessed mileage wheel; acquiring position information of the measuring device at the landmark point moment according to the landmark point file and the original storage data; step three, shaking the base to self-align according to the position information of the measuring device at the time of the landmark point and the original storage data to determine the initial posture; fourthly, performing Kalman filtering integrated navigation of inertia/mileage wheel/road mark points according to the processed mileage wheel digital quantity, the position information of the measuring device at the road mark point moment and the original stored data to obtain a navigation filtering result; and fifthly, carrying out dead reckoning according to the navigation filtering result, and carrying out iterative correction of dead reckoning by using each road mark point to finish data post-processing of the optical fiber pipeline measuring device.
By applying the configuration mode, the data post-processing method of the optical fiber pipeline measuring device is provided, and the fault tolerance and the precision of post-processing of surveying and mapping data of the pipeline measuring device can be improved by effectively utilizing the mileage wheel information and the landmark point information to carry out Kalman filtering combined navigation and dead reckoning iterative correction of inertia/mileage wheel/landmark points. Compared with the prior art, the technical scheme of the invention can solve the technical problems of insufficient fault tolerance and accuracy of the data post-processing algorithm of the optical fiber pipeline measuring device in the prior art so as to meet the engineering application requirements.
Further, in the invention, after mathematical simulation verification and test verification in an actual system, the data post-processing method of the optical fiber pipeline measuring device firstly reads the original storage data of the optical fiber pipeline measuring device stored on line, wherein the original storage data comprises information such as a system count value (namely a PC value), an angular rate, an acceleration, a measuring device timekeeping time, a mile wheel voltage and the like. In the invention, a user adopts a simulated mileage wheel, the voltage output of the mileage wheel is triangular wave, and the voltage value of the mileage wheel is turned over to represent that the mileage wheel passes through 1/3 of a circle. And from the data collection in the actual pipeline, mileage wheel voltage value amplitude is unstable, and there is certain randomness in the output when static promptly, and voltage value output contains certain noise, and this makes the upset of the unable accurate judgement mileage wheel voltage value. The invention preprocesses the voltage output information of the mileage wheel and can accurately judge the voltage value overturn.
As a specific embodiment of the present invention, the first step specifically includes: 1.1 Reading the voltage of the mileage wheel from the original stored data, and recording the voltage of the mileage wheel by taking continuous m voltage values of the mileage wheel as a group, wherein m is an odd number and is more than or equal to 5;1.2 To determine the first of two adjacent mileage wheel voltages
Voltage value of mileage wheel and the second group
The level of the voltage value of the mileage wheel is higher or lower than that of the previous group
Voltage value of mileage wheel and the second group
If the voltage value of each mile wheel is a triangular wave point with opposite high and low, the first mile wheel voltage value of the previous group is recorded
The time corresponding to the voltage value of each mileage wheel and the first mile wheel of the previous group
Recording the voltage value of each mileage wheel as a corresponding digital value; otherwise, entering step 1.3); 1.3 Sliding to the subsequent two adjacent groups of mileage wheel voltages, and repeating the steps 1.2 to 1.3 until the judgment of all the mileage wheel voltage groups is completed to obtain the preprocessed mileage wheel digital quantity.
In this embodiment, taking a set of 5 odometer wheel voltage values as an example, if the following conditions are satisfied simultaneously, it is considered that the sampling value 3 is a triangular wave peak:
(1) the sampling value 1 is less than the sampling value 2;
(2) the sampling value 2 is less than the sampling value 3;
(3) the sampling value 3 is more than the sampling value 4;
(4) the sampling value 4 is more than the sampling value 5;
(5) sampling value 3 > set threshold value of triangle wave high point.
If the following conditions are satisfied simultaneously, the sampling value 3 is considered as a triangular wave low point:
(1) the sampling value 1 is less than the sampling value 2;
(2) the sampling value 2 is less than the sampling value 3;
(3) the sampling value 3 is more than the sampling value 4;
(4) the sampling value 4 is more than the sampling value 5;
(5) the sampling value is 3 < the set threshold value of the triangle wave low point.
If it is the first of the previous group
The voltage value of each mileage wheel is the triangular wave height point, the first group
And if the voltage value of the mileage wheel is the triangular wave low point, judging that the mileage wheel outputs the triangular wave for one time, recording the time corresponding to the triangular wave high point, and recording the voltage value of the mileage wheel at the triangular wave high point as the digital quantity 1. If it is the first of the previous group
The voltage value of each mileage wheel is a triangle wave low point, the first group of the later mileage wheels
And if the voltage value of the mileage wheel is the triangular wave high point, judging that the mileage wheel outputs the triangular wave to turn over once, recording the time corresponding to the triangular wave low point, and recording the voltage value of the mileage wheel at the triangular wave low point as the digital quantity 0. The preprocessing of the mileage wheel voltage converts the mileage wheel voltage value into a digital value, so that the subsequent processing is facilitated. As shown in fig. 2 and 3, the output of the mileage wheel after preprocessing is monotonously smooth, and it can be seen that the preprocessing method of the mileage wheel is effective.
In the embodiment, the preprocessed mileage wheel digital quantity is obtained according to the recorded mileage wheel voltage value, and the preprocessed mileage wheel digital quantity is stored as a first file for subsequent processing.
In addition, in the invention, after the preprocessed number quantity of the mileage wheels is obtained, the position information of the measuring device at the time of the road marking point is obtained according to the road marking point file and the original stored data. As an embodiment of the present invention, by reading the raw stored data and the landmark point (i.e., mark point) file provided by the user, contents including time, angular rate, acceleration, position information, system information, and task information can be acquired. And the accurate position information of the measuring device at the corresponding moment can be obtained by processing the time scale of the landmark point in the landmark point file and the timekeeping time of the measuring device in the original storage data, and the position information of the measuring device at the landmark point moment, the angular rate, the acceleration and other information in the original storage data and the Mark point file are stored as a second file for subsequent processing.
Further, in the invention, after the position information of the measuring device at the time of the landmark point is obtained, the shaking base self-alignment is carried out according to the position information of the measuring device at the time of the landmark point and the original storage data to determine the initial posture. As a specific embodiment of the invention, the diameter of the mileage wheel is bound first, and then the initial position, angular rate and acceleration information in the second file are read to perform shaking base self-alignment, and the initial posture is determined. For example, a 4min shaking base initial alignment may be performed.
In addition, after the shaking base self-alignment is completed to determine the initial posture, the method automatically switches to the inertia/mileage wheel/Mark point combined navigation, and carries out the Kalman filtering combined navigation of the inertia/mileage wheel/road Mark point according to the processed mileage wheel digital quantity, the position information of the measuring device at the road Mark point time and the original storage data so as to obtain the navigation filtering result. And estimating the error of the device by using Kalman filtering through reading the number quantity of the odometer wheel stored in the first file in the step one and the angular rate, the acceleration and the Mark point information stored in the second file in the step two, and performing closed-loop feedback correction on model error items such as speed, position, attitude, gyro drift, misalignment angle, plus-meter zero offset, odometer wheel scale factor, odometer wheel installation error and the like.
As a specific embodiment of the present invention, the step four specifically includes: 4.1 The processed number quantity of the mile wheels, the position information of the measuring device at the time of the landmark points and the original stored data are used for constructing a system state equation, an observation equation of the inertia/mile wheel combined navigation, an observation equation of the landmark points and an error estimation correction equation; 4.2 According to a system state equation, an observation equation of inertia/mile wheel integrated navigation, a landmark point observation equation and an error estimation correction equation, i +1 times of forward navigation Kalman filtering and i times of reverse navigation Kalman filtering are alternately performed in sequence to obtain a navigation filtering result, wherein i is more than or equal to 1,i which is an integer.
In this embodiment, in step 4.1, the number of mile wheels stored in the first file in step one and the angular rate, acceleration and Mark point information stored in the second file in step two are read first, and then a system state equation, an observation equation of inertia/mile wheel combined navigation, a landmark point observation equation and an error estimation correction equation are constructed.
Specifically, inertial navigation system navigation errors (velocity, position and attitude errors) and inertial device errors are combined according to
A system state equation is constructed in which,
is the differentiation of the state quantity, A is the system state transition matrix, w is the system noise, X is the system error state quantity, X = [ Δ V ] n ΔV u ΔV e Φ n Φ u Φ e ΔL D Δh D Δλ D ▽ x ▽ y ▽ z ε x ε y ε z Θ Y Θ Z ΔK D ]，ΔV n 、ΔV u And Δ V e Respectively, north, vertical and east velocity errors of inertial navigation, phi n 、Φ u And phi e Respectively, inertial navigation north, vertical and east misalignment angle errors, Δ L D 、Δh D 、Δλ D Latitude, longitude, and altitude errors for inertial navigation/odometer combination navigation, respectively x 、▽ y And & z Are respectively inertial navigation X-axis, Y-axis and Z-axis accelerometers with zero offset epsilon x 、ε y And ε z Gyroscopic drifts theta of inertial navigation X-axis, Y-axis and Z-axis respectively Y And Θ Z Respectively, the installation error angle, delta K, between the inertial navigation wheel and the mileage wheel along the Y axis and the Z axis of the inertial navigation D Is the odometer wheel scale factor error.
System state transition matrix
The filter observation equation is divided into two parts, wherein the inertia/mileage wheel combination adopts speed matching according to
Constructing an observation equation of inertia/mile wheel combined navigation, and correcting road sign points by adopting position matching according to
Constructing a road sign point observation equation, wherein V N 、V U And V E Respectively the north, the sky and the east speeds of inertial navigation; l is Ins 、h Ins And λ Ins Latitude, altitude and longitude, L, respectively, of a combined navigation Mark 、h Mark And λ Mark Respectively, the latitude, altitude and longitude of the waypoint.
The rough calibration and the fine calibration of the mileage wheel are cancelled in the process of the invention, a user only needs to directly bind the rough diameter of the mileage wheel, and in the Kalman filtering process, the odometer wheel scale factor error and the installation error theta between the inertial navigation and the mileage wheel along the inertial navigation Y axis (namely the pitching direction) and the Z axis (namely the course direction) are processed Y 、Θ Z The error estimation value is corrected in real time as a state quantity. Can be based on
Constructing an error estimation correction equation, wherein K D For the modified odometer wheel scale factor, K D ' is the mileage wheel scale factor before correction,
the mileage wheel attitude matrix from the geography n to the mileage wheel odo,
the error matrix is installed from the carrier b to the mileage wheel odo,
is the inertial navigation attitude matrix from the geography n system to the carrier b system.
In the embodiment, in step 4.2, since the post-processing does not require real-time performance, the integrated navigation adopts a forward and reverse navigation iteration method, and i +1 times of forward navigation kalman filtering and i times of reverse navigation kalman filtering are performed alternately in sequence according to a system state equation, an observation equation of the inertia/mile wheel integrated navigation, a landmark observation equation and an error estimation correction equation to obtain a navigation filtering result, wherein i is not less than 1,i which is an integer.
As shown in fig. 4, taking forward and backward navigation post-processing traversal 3 times as an example, when navigating forward, the file pointer starts to increase progressively from the first landmark point of the second file header; when navigating backwards, the file pointer is decreased from the last landmark point at the tail of the file. In the first post-processing, after the alignment is finished, forward inertial navigation and Kalman filtering calculation are carried out according to a combined navigation algorithm; after the last landmark point is reached, performing second post-processing, and adopting reverse inertial navigation and Kalman filtering calculation; and after returning to the acquisition starting point, performing third post-processing, calculating by adopting forward inertial navigation and Kalman filtering, and storing navigation filtering results of the inertial/mileage wheel combined navigation, such as speed, position, attitude, mileage wheel speed and the like, as a third file for subsequent processing. When the navigation is positively conducted, the speed and the position are updated firstly, then the attitude quaternion is updated, and the navigation resolving method is common knowledge of technicians in the field. And the reverse navigation algorithm takes the negative signs of the gravity acceleration, the overload, the angular speed, the speed and the navigation period in the forward navigation. And during reverse navigation, updating the quaternion of the inertial attitude, and then updating the position and the speed.
In the traditional method, rough calibration and fine calibration are required to be carried out on the mileage wheel. However, in engineering application, it is found that an actual pipeline often does not have the condition for calibrating the mileage wheel, and the effect of the method for calibrating the mileage wheel is not good. In addition, the mileage wheel and the inertia device are not fixedly connected and installed, and the installation error is a variable value. In the algorithm, the scale factor error and the installation error of the mileage wheel are used as state variables to carry out closed-loop correction in real time, and the scale factor error of the mileage wheel can be rapidly converged. On one hand, the design cancels the step of mileage wheel calibration, simplifies the operation process, improves the applicability of the system, on the other hand, can equate the problems of mileage wheel slipping, jumping and the like into scale factor errors, and further improves the processing precision through real-time correction. As shown in fig. 5 and 6, the error may converge quickly, and it can be seen that it is feasible to omit the odometer wheel calibration process.
Further, in the invention, after the navigation filtering result is obtained, dead reckoning is carried out according to the navigation filtering result, and each road sign point is utilized to carry out iterative correction of dead reckoning so as to complete the data post-processing of the optical fiber pipeline measuring device.
As a specific embodiment of the present invention, step five specifically includes: 5.1 Performing dead reckoning on the first landmark point according to the navigation filtering result to obtain a dead reckoning position of the current landmark point; 5.2 Solving a comprehensive azimuth error, a mileage wheel scale factor error and a pitch error between an inertial navigation wheel and a mileage wheel according to the position information of the current landmark point and the dead reckoning position; 5.3 Judging whether the latitude, longitude and altitude of the current landmark point dead reckoning all meet the threshold requirements according to the position information and dead reckoning position of the current landmark point, and entering step 5.4) if the latitude, longitude and altitude of the current landmark point dead reckoning all meet the threshold requirements; otherwise, compensating the position error, the pitch error and the odometer wheel scale factor error, performing the dead reckoning of the current landmark point again, and repeating the steps from 5.2 to 5.3 until the latitude, the longitude and the altitude of the dead reckoning of the current landmark point meet the threshold requirements; 5.4 Positioning the current landmark point as the initial position, performing dead reckoning on the next landmark point, and repeating the steps from 5.2 to 5.4 until dead reckoning of all landmark points is completed so as to complete data post-processing of the optical fiber pipeline measuring device.
In this embodiment, first, in step 5.1, the third file containing the navigation filtering result generated in step four is read, and the dead reckoning is performed from the first Mark point by using the initial position, the attitude matrix, the odometer speed information, the displacement increment information, and the like recorded in the file, and the dead reckoning time after the dead reckoning of the current landmark point reaches the time of the next Mark point.
And then in step 5.2, estimating a comprehensive azimuth error, a mileage wheel scale factor error and a pitch error between the inertial navigation and the mileage wheel by using the current Mark point position information in the second file generated in the step two and the dead reckoning result. In particular, can be according to
Resolving the combined azimuth error, odometer wheel scale factor error and inertial navigation and odometer wheel pitch error, wherein phi DU +α ψ To synthesize the azimuth error, α θ For pitch mounting errors between inertial navigation and odometer wheels, Δ S DN And S DN Respectively the error of the north displacement obtained by dead reckoning and the real north displacement,ΔS DE and S DE East displacement error and true east displacement, Δ S, obtained from dead reckoning DU And S DU Respectively, the vertical displacement error and the true vertical displacement obtained by dead reckoning, S D And calculating the dead reckoning distance between the two landmark points.
Next, in step 5.3, if any one or more of the latitude, longitude and altitude of the current waypoint dead reckoning does not meet the threshold requirements, the heading error, pitch error and odometer wheel scale factor error are compensated. In particular, can be according to
Compensating for the combined bearing error, odometer wheel scale factor error, and inertial navigation and odometer wheel pitch error, wherein,
an inertial navigation attitude matrix S from the geography n system to the carrier b system after error compensation D1 And calculating the dead reckoning distance between the two paths of punctuations after error compensation. After the error compensation is completed, the file pointer jumps back to the previous Mark point, the dead reckoning is carried out again, and the steps 5.2 to 5.3 are repeated until the latitude, longitude and altitude precision of the dead reckoning of the Mark point meet the threshold requirement.
During actual data processing, a small amount of error still exists after the position accuracy of dead reckoning at the Mark point meets the threshold requirement. As another embodiment of the present invention, after step 5.3, an approximation processing method is added to further reduce the Mark point and dead reckoning position error on the whole path. In particular, can be according to
Correcting the current waypoint dead reckoning latitude, altitude and longitude to improve the accuracy of the current waypoint dead reckoning position, wherein L' D 、h' D And λ' D Respectively the latitude, altitude and longitude, L of the current waypoint dead reckoning before correction D 、h D And λ D Respectively the corrected latitude, altitude and longitude of the current landmark point dead reckoning, and S is the dead reckoning distance from the previous landmark point to the path point. Through the approximate processing, the positions of all points on the path can be corrected by using the position information of the road sign points on the basis of the dead reckoning iteration, so that the position precision is further improved, and the method has certain practicability in engineering.
And finally, after the position accuracy of the current landmark point dead reckoning meets the requirement, setting the current Mark point as an initial position, dead reckoning to the next Mark point, processing the Mark point data in the current segment by adopting the same steps, and repeating the steps until the complete part of the landmark point data file is processed to finish the dead reckoning of all the landmark points, namely finishing the post-processing of the data of the optical fiber pipeline measuring device.
In the pipeline surveying and mapping market project, the invention adopts a small optical fiber strapdown system scheme to store inertia information on line, and then utilizes the information of an external mileage wheel and a Mark point to carry out post-processing. By researching methods such as preprocessing of voltage information of the mileage wheel, real-time correction of scale factors and installation errors, approximate processing of path positions and the like, a post-processing method which is good in fault tolerance and has certain engineering practicability is designed and realized, and the post-processing precision of the system is effectively improved.
Taking the actual pipeline mapping data of a certain time as an example, as shown in fig. 7, the abscissa in the graph is longitude, the ordinate is latitude, the star point is Mark point position, and the connecting line is the post-processing path. The post-processing errors at 2, 4, 6, 8 and the like can be considered by only using Mark point information of 1, 3, 5, 7 and the like to perform post-processing and comparing post-processing positions at the recording time of the Mark points of 2, 4, 6, 8 and the like with Mark point positions; similarly, the post-processing errors at 3, 5, 7, 9, etc. points can be considered by comparing the post-processing positions at the recording times of the Mark points, such as 3, 5, 7, 9, etc., with the Mark point positions using only the Mark point information, such as 1, 2, 4, 6, 8, etc. The post-processing error of this actual pipeline data is shown in table 1.
TABLE 1 actual pipeline data post-processing error
As can be seen from the post-processing result of the actual pipeline mapping storage data, except the case that the space between the Mark points is too large (the time interval of the Mark points 14 is about 50min, and the distance interval is 4450m, namely, the precision is 4.71m/4450 m), the precision of the post-processing result of the low-precision optical fiber measuring device adopting the method can reach within 3m/1000 m. Because the method of using Mark points at intervals is adopted for precision determination, the actual use precision is higher, the requirement of precise surveying and mapping of the small-diameter pipeline can be met, and the method for post-processing of surveying and mapping by adopting the pipeline is effective. Meanwhile, the method has better engineering practicability and universality, and can also be applied to post-processing of mapping data of other types of inertia measurement devices.
For further understanding of the present invention, the following describes the data post-processing method of the fiber channel measuring device according to the present invention with reference to fig. 1 to 7.
As shown in fig. 1 to fig. 7, a method for post-processing data of an optical fiber pipeline measurement device is provided according to an embodiment of the present invention, and the method for post-processing data of an optical fiber pipeline measurement device specifically includes the following steps.
1.1 Read the odometer wheel voltage from the original stored data, and record the odometer wheel voltage as a group of sliding with m continuous odometer wheel voltage values, wherein m is an odd number and m is more than or equal to 5.
1.2 To determine the first of two adjacent mileage wheel voltages
Voltage value of mileage wheel and the second group
The level of the voltage value of the mileage wheel is higher or lower than that of the previous group
Voltage value of mileage wheel and the second group
If the voltage value of each mile wheel is a triangular wave point with opposite high and low, the first mile wheel voltage value of the previous group is recorded
The time corresponding to the voltage value of each mileage wheel and the first mileage wheel of the previous group
Recording the voltage value of each mileage wheel as a corresponding digital value; otherwise, step 1.3) is entered.
1.3 Slide to the two subsequent adjacent mileage wheel voltage groups, and repeat the steps 1.2 to 1.3 until the judgment of all the mileage wheel voltage groups is completed.
2) And acquiring the position information of the measuring device at the landmark point moment according to the landmark point file and the original storage data.
3) And performing shaking base self-alignment according to the position information of the measuring device at the landmark point moment and the original stored data to determine the initial posture.
4.1 According to
Constructing a system state equation; according to
Constructing an observation equation of inertia/mile wheel combined navigation, and correcting road sign points by adopting position matching according to
Constructing a road sign point observation equation; according to
And constructing an error estimation correction equation.
4.2 According to a system state equation, an observation equation of inertia/mile wheel integrated navigation, a landmark point observation equation and an error estimation correction equation, i +1 times of forward navigation Kalman filtering and i times of reverse navigation Kalman filtering are alternately performed in sequence to obtain a navigation filtering result, wherein i is more than or equal to 1,i which is an integer.
5.1 Carry out dead reckoning on the first landmark point according to the navigation filtering result to obtain the dead reckoning position of the current landmark point.
5.2 According to
And resolving a comprehensive azimuth error, a mileage wheel scale factor error and a pitch error between the inertial navigation wheel and the mileage wheel.
5.3 Judging whether the latitude, longitude and altitude of the current landmark point dead reckoning all meet the threshold requirements according to the position information and dead reckoning position of the current landmark point, and entering step 5.4) if the latitude, longitude and altitude of the current landmark point dead reckoning all meet the threshold requirements; otherwise, according to
And (3) compensating the comprehensive azimuth error, the odometer wheel scale factor error and the pitch error between the inertial navigation and the odometer wheel, carrying out dead reckoning on the current landmark point again, and repeating the steps from 5.2 to 5.3 until the latitude, longitude and altitude of the dead reckoning of the current landmark point meet the threshold requirements.
According to
The latitude, altitude and longitude of the current waypoint dead reckoning are corrected to improve the accuracy of the dead reckoning position of the current waypoint.
5.4 Positioning the current landmark point as the initial position, performing dead reckoning on the next landmark point, and repeating the steps from 5.2 to 5.4 until dead reckoning of all landmark points is completed so as to complete data post-processing of the optical fiber pipeline measuring device.
In summary, the present invention provides a data post-processing method for an optical fiber pipeline measurement device, which can improve the fault tolerance and accuracy of post-processing of mapping data of the pipeline measurement device by effectively utilizing the mileage wheel information and landmark point information to perform the kalman filtering integrated navigation and dead reckoning iterative correction of the inertia/mileage wheel/landmark point. Compared with the prior art, the technical scheme of the invention can solve the technical problems of insufficient fault tolerance and accuracy of the data post-processing algorithm of the optical fiber pipeline measuring device in the prior art so as to meet the engineering application requirements.
For ease of description, spatially relative terms such as "over … …", "over … …", "over … …", "over", etc. may be used herein to describe the spatial positional relationship of one device or feature to another device or feature as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A data post-processing method for an optical fiber pipeline measuring device is characterized by comprising the following steps:
preprocessing the voltage of a mileage wheel in original storage data of the optical fiber pipeline measuring device to obtain the number quantity of the preprocessed mileage wheel;
acquiring position information of the measuring device at the landmark point moment according to the landmark point file and the original storage data;
step three, shaking the base to self-align according to the position information of the measuring device at the time of the landmark point and the original storage data to determine the initial posture;
fourthly, performing Kalman filtering integrated navigation of inertia/mileage wheel/road mark points according to the processed mileage wheel digital quantity, the position information of the measuring device at the road mark point moment and the original stored data to obtain a navigation filtering result;
fifthly, carrying out dead reckoning according to the navigation filtering result, and carrying out iterative correction of dead reckoning by using each road mark point to finish data post-processing of the optical fiber pipeline measuring device;
the first step specifically comprises the following steps:
step 1.1), reading the voltage of the mileage wheel from the original storage data, and recording the voltage of the mileage wheel by taking continuous m voltage values of the mileage wheel as a group, wherein m is an odd number and is more than or equal to 5;
step 1.2), judging the first group of the previous group in the two adjacent groups of the mileage wheel voltages
Voltage value of mileage wheel and the second group
The level of the voltage value of the mileage wheel is higher or lower than that of the previous group
Voltage value of mileage wheel and the second group
If the voltage value of each mile wheel is a triangular wave point with opposite high and low, the first mile wheel voltage value of the previous group is recorded
The time corresponding to the voltage value of each mileage wheel and the first mile wheel of the previous group
Recording the voltage value of each mileage wheel as a corresponding digital value; otherwise, entering step 1.3);
and step 1.3), sliding to the two subsequent adjacent groups of the mileage wheel voltages, and repeating the steps 1.2) to 1.3) until the judgment of all the mileage wheel voltage groups is completed to obtain the preprocessed mileage wheel digital quantity.
2. The method for post-processing of data of an optical fiber pipeline measuring device according to claim 1, wherein the fourth step specifically comprises:
step 4.1), constructing a system state equation, an observation equation of inertia/mileage wheel combined navigation, a road sign point observation equation and an error estimation correction equation according to the processed mileage wheel digital quantity, the position information of the measuring device at the road sign point moment and the original storage data;
and 4.2) sequentially and alternately performing i +1 times of forward navigation Kalman filtering and i times of reverse navigation Kalman filtering according to the system state equation, the observation equation of the inertia/mileage wheel integrated navigation, the landmark point observation equation and the error estimation correction equation to obtain the navigation filtering result, wherein i is more than or equal to 1,i which is an integer.
3. The method for post-processing data of the fiber channel measuring device according to claim 2, wherein in the step 4.1), the method for post-processing data of the fiber channel measuring device is based on
Constructing the system state equation, wherein,
is the differentiation of the state quantity, A is the system state transition matrix, w is the system noise, X is the system error state quantity,
ΔV n 、ΔV u and Δ V e Respectively, north, vertical and east velocity errors of inertial navigation, phi n 、Φ u And phi e Respectively, inertial navigation north, vertical and east misalignment angle errors, Δ L D 、Δh D 、Δλ D Latitude, longitude and altitude errors of the inertial navigation/odometer wheel combined navigation respectively,
and
are respectively inertial navigation X-axis, Y-axis and Z-axis accelerometers with zero offset epsilon x 、ε y And ε z Gyro drift theta of inertial navigation X-axis, Y-axis and Z-axis respectively Y And Θ Z Respectively, the installation error angle, delta K, between the inertial navigation wheel and the mileage wheel along the Y axis and the Z axis of the inertial navigation D Is the odometer wheel scale factor error.
4. The method for post-processing data of the optical fiber pipeline measuring device according to claim 2, wherein in the step 4.1), the method for post-processing data of the optical fiber pipeline measuring device is based on
Constructing an observation equation of the inertia/mileage wheel integrated navigation according to
Constructing the observation equation of the landmark points, wherein V N 、V U And V E Respectively north, sky and east speeds of inertial navigation, V Dn 、V Du And V De Respectively, the north, the sky and the east components of the speed of the mileage wheel, V D In order to determine the speed of the mileage wheel,
an inertial navigation attitude matrix from a carrier b system to a geography n system; l is Ins 、h Ins And λ Ins Latitude, altitude and longitude, L, respectively, of the combined navigation Mark 、h Mark And λ Mark Respectively, the latitude, the altitude and the longitude of the landmark point, and X is the system error state quantity.
5. The method for post-processing data of the fiber channel measuring device according to claim 2, wherein in the step 4.1), the method for post-processing data of the fiber channel measuring device is based on
Constructing the error estimation correction equation, wherein K D For the modified odometer wheel scale factor, K D' To be the mileage wheel scale factor before correction,
the odometer wheel attitude matrix from geography n to the odometer wheel odo,
the error matrix is installed from the carrier b to the mileage wheel odo,
inertial navigation attitude matrix from geography n system to carrier b system, delta K D Is the odometer wheel scale factor error.
6. The method for post-processing of data of an optical fiber conduit measuring device according to claim 5, wherein the step five specifically comprises:
step 5.1), carrying out dead reckoning on the first landmark point according to the navigation filtering result to obtain a dead reckoning position of the current landmark point;
step 5.2), resolving a comprehensive azimuth error, a scale factor error of the mileage wheel and a pitch error between the inertial navigation and the mileage wheel according to the position information of the current landmark point and the dead reckoning position;
step 5.3), judging whether the latitude, longitude and altitude of the current waypoint dead reckoning meet the threshold requirement according to the position information and the dead reckoning position of the current waypoint, and entering step 5.4 if the latitude, longitude and altitude of the current waypoint dead reckoning meet the threshold requirement; otherwise, compensating the azimuth error, the pitch error and the odometer wheel scale factor error, performing dead reckoning on the current landmark point again, and repeating the steps from 5.2) to 5.3) until the latitude, longitude and altitude of the dead reckoning of the current landmark point meet the threshold requirements;
and 5.4) taking the current landmark point as an initial position, carrying out dead reckoning on the next landmark point, and repeating the steps 5.2) to 5.4) until dead reckoning of all landmark points is completed so as to complete data post-processing of the optical fiber pipeline measuring device.
7. The method for post-processing data of an optical fiber pipeline measuring device according to claim 6, wherein in the step 5.2), the method for post-processing data of an optical fiber pipeline measuring device is based on
Resolving the synthetic azimuth error, the odometer wheel scale factor error, and the pitch error between the inertial navigation and odometer wheels, wherein φ DU +α ψ To synthesize the azimuth error, α θ For pitch mounting errors between inertial navigation and odometer wheels, Δ S DN And S DN Respectively the error of the north displacement obtained by dead reckoning and the true north positionMove,. DELTA.S DE And S DE East displacement error and true east displacement, Δ S, obtained from dead reckoning DU And S DU Respectively, the vertical displacement error and the true vertical displacement obtained by dead reckoning, S D For dead reckoning distance between two waypoints, Δ K D Is the odometer wheel scale factor error.
8. The method for post-processing data of an optical fiber pipeline measuring device according to claim 6, wherein in the step 5.3), the method for post-processing data of an optical fiber pipeline measuring device is based on
Compensating for the integrated bearing error, the odometer wheel scale factor error, and the pitch error between the inertial and odometer wheels, wherein,
an inertial navigation attitude matrix S from the geography n system to the carrier b system after error compensation D1 For dead reckoning course, alpha, between two punctuations after error compensation θ For pitch mounting errors between inertial navigation and odometer wheels, phi DU +α ψ In order to synthesize the azimuth error,
inertial navigation attitude matrix from geography n system to carrier b system, delta K D For odometer wheel scale factor error, S D And calculating the dead reckoning distance between the two landmark points.
9. The fiber optic duct measurement device data post-processing method according to claim 6, wherein after step 5.3), the fiber optic duct measurement device data post-processing method further comprises: according to
Calculating the latitude, height and longitude of current road marking point dead reckoningCorrecting to improve the accuracy of the dead reckoning position of the current road landmark point, wherein L' D 、h' D And λ' D Respectively the latitude, altitude and longitude, L of the current waypoint dead reckoning before correction D 、h D And λ D Respectively the corrected latitude, altitude and longitude of the current landmark point dead reckoning, S is the dead reckoning distance from the previous landmark point to the path point, R M And R N Respectively the meridian radius of the earth and the prime radius of the earth, S D1 For dead reckoning distance, delta S, between two paths of punctuations after error compensation DN For dead reckoning north displacement error, Δ S DE For dead reckoning east displacement error, Δ S DU Is the vertical displacement error obtained by dead reckoning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010843320.9A CN112082546B (en) | 2020-08-20 | 2020-08-20 | Data post-processing method for optical fiber pipeline measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010843320.9A CN112082546B (en) | 2020-08-20 | 2020-08-20 | Data post-processing method for optical fiber pipeline measuring device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112082546A CN112082546A (en) | 2020-12-15 |
| CN112082546B true CN112082546B (en) | 2023-01-10 |
Family
ID=73728431
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010843320.9A Active CN112082546B (en) | 2020-08-20 | 2020-08-20 | Data post-processing method for optical fiber pipeline measuring device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112082546B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103697886A (en) * | 2012-09-28 | 2014-04-02 | 中国石油天然气股份有限公司 | Inertial navigation measurement method for pipeline center line |
| CN103727938A (en) * | 2013-10-28 | 2014-04-16 | 北京自动化控制设备研究所 | Combination navigation method of inertial navigation odometer for pipeline surveying and mapping |
| CN106507913B (en) * | 2010-09-25 | 2014-10-22 | 北京自动化控制设备研究所 | Combined positioning method for pipeline mapping |
| CN109387197A (en) * | 2017-08-03 | 2019-02-26 | 北京自动化控制设备研究所 | One kind being threadingly advanced equipment navigation error compensation method |
| CN111256727A (en) * | 2020-02-19 | 2020-06-09 | 广州蓝胖子机器人有限公司 | Method for improving accuracy of odometer based on Augmented EKF |
-
2020
- 2020-08-20 CN CN202010843320.9A patent/CN112082546B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106507913B (en) * | 2010-09-25 | 2014-10-22 | 北京自动化控制设备研究所 | Combined positioning method for pipeline mapping |
| CN103697886A (en) * | 2012-09-28 | 2014-04-02 | 中国石油天然气股份有限公司 | Inertial navigation measurement method for pipeline center line |
| CN103727938A (en) * | 2013-10-28 | 2014-04-16 | 北京自动化控制设备研究所 | Combination navigation method of inertial navigation odometer for pipeline surveying and mapping |
| CN109387197A (en) * | 2017-08-03 | 2019-02-26 | 北京自动化控制设备研究所 | One kind being threadingly advanced equipment navigation error compensation method |
| CN111256727A (en) * | 2020-02-19 | 2020-06-09 | 广州蓝胖子机器人有限公司 | Method for improving accuracy of odometer based on Augmented EKF |
Non-Patent Citations (1)
| Title |
|---|
| ＭＥＭＳ惯测技术在管道测绘系统中的应用;杨继红等;《导航定位与授时》;20191130;第6卷(第6期);第58-62页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112082546A (en) | 2020-12-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109974697B (en) | High-precision mapping method based on inertial system | |
| CN109870173A (en) | A kind of track correct method of the submarine pipeline inertial navigation system based on checkpoint | |
| CN112595350B (en) | Automatic calibration method and terminal for inertial navigation system | |
| CN104344837B (en) | Speed observation-based redundant inertial navigation system accelerometer system level calibration method | |
| CN104344836B (en) | Posture observation-based redundant inertial navigation system fiber-optic gyroscope system level calibration method | |
| CN107860399A (en) | Accurate alignment method between a kind of vehicle-mounted inertial navigation based on map match is advanced | |
| CN105136166B (en) | A kind of SINS error model emulation mode of specified inertial navigation positional precision | |
| CN101706284A (en) | Method for increasing position precision of optical fiber gyro strap-down inertial navigation system used by ship | |
| CN113551668A (en) | Spacecraft inertia/fixed star light vector/star light refraction combined navigation method | |
| CN106017452A (en) | Dual gyro anti-disturbance north-seeking method | |
| CN105352502A (en) | Attitude obtaining method of micro-inertia sailing attitude reference system | |
| CN110395297A (en) | Train locating method | |
| CN113503892A (en) | Inertial navigation system moving base initial alignment method based on odometer and backtracking navigation | |
| JP2021518529A (en) | How to calibrate the gyrometer installed in the vehicle | |
| Wang et al. | Land vehicle navigation using odometry/INS/vision integrated system | |
| CN105865444B (en) | Inertia based on affine transformation/geomagnetic matching iteration localization method | |
| JP2021527213A (en) | How to calibrate an object's gyrometer | |
| CN112082546B (en) | Data post-processing method for optical fiber pipeline measuring device | |
| CN110987023B (en) | Inertial navigation dynamic alignment method | |
| CN113670297A (en) | Off-line positioning method based on MEMS and wheel type odometer | |
| CN114608570B (en) | Multi-mode self-switching pipeline instrument self-adaptive precise positioning method | |
| CN115717901B (en) | Inertial/visual odometer installation error estimation method based on filtering | |
| CN113624251A (en) | High-precision calibration method for mining inertial navigation system | |
| Jo et al. | Design of enhanced rotation scheme for dual-axis rotational inertial navigation system | |
| JPH0634379A (en) | Navigation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |