A Novel Constrained Filter Integrated with an Extended Kalman Filter in Underground Pipeline Navigation Using MEMS IMU

Q2 Computer Science Gyroscopy and Navigation Pub Date : 2022-06-16 DOI:10.1134/s2075108722010023

I. H. Afshar, M. R. Delavar, B. Moshiri

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Abstract—

To produce a 3D map of the Tehran’s first gas transfer pipeline (Tehran—Kuhnamak), a methodology has been developed in this research, in which a strapdown inertial navigation system (SINS) based on micro-electro-mechanical system (MEMS) and inertial measurement unit (IMU) is applied on pipeline inspection gauges (PIGs) to sense data every 4 millimeters of 111 kilometers of the whole pipeline. The navigation solution is based on an extended Kalman filter (EKF) using Allan variance (AVAR) to analyze and tune the EKF initial inputs. A new constrained PIG filter (CPF) is proposed in this paper in integration with EKF, in which two Euler angles (pitch and yaw) of the PIG are updated due to non-holonomic state constraints between pipe junctions. Besides, 98 magnetic control points have been used to increase robustness about every kilometer, which is coordinated by GPS. Furthermore, odometer measurements have been employed as measurements in the EKF. The results show that using such a hybrid approach has improved the PIG positioning accuracy by about 81% compared with that of the Basic EKF. In addition, positioning accuracy in comparison with the latest methods like EKF/pipeline junctions (PLJ) has increased by 32%. Furthermore, the proposed method is 55% better than EKF/PLJ in the algorithm runtime.

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基于MEMS IMU的地下管道导航约束滤波与扩展卡尔曼滤波集成

摘要:为了绘制德黑兰首条输气管道(Tehran - kuhnamak)的3D地图，本研究开发了一种方法，该方法将基于微机电系统(MEMS)和惯性测量单元(IMU)的捷联惯性导航系统(SINS)应用于管道检测仪表(pig)上，在整个管道的111公里处每4毫米检测一次数据。该导航方案基于扩展卡尔曼滤波器(EKF)，使用Allan方差(AVAR)分析和调整EKF初始输入。结合EKF提出了一种新的约束PIG滤波器(CPF)，该滤波器由于管结点间的非完整状态约束而更新了PIG的两个欧拉角(俯仰角和偏航角)。此外，采用98个磁控制点，每公里增加鲁棒性，GPS协调。此外，里程表测量已被用作EKF的测量。结果表明，与基本EKF相比，采用这种混合方法的PIG定位精度提高了约81%。此外，与EKF/管道接头(PLJ)等最新方法相比，定位精度提高了32%。在算法运行时间上，该方法比EKF/PLJ算法提高了55%。

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来源期刊

Gyroscopy and Navigation Computer Science-Computer Science (all)

CiteScore

2.80

自引率

0.00%

发文量

期刊介绍： Gyroscopy and Navigation is an international peer reviewed journal that covers the following subjects: inertial sensors, navigation and orientation systems; global satellite navigation systems; integrated INS/GNSS navigation systems; navigation in GNSS-degraded environments and indoor navigation; gravimetric systems and map-aided navigation; hydroacoustic navigation systems; navigation devices and sensors (logs, echo sounders, magnetic compasses); navigation and sonar data processing algorithms. The journal welcomes manuscripts from all countries in the English or Russian language.

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