Aiming at the problem of autonomous localization of in-pipe inspection robots in pipelines,a localization algorithm for in-pipe inspection robots based on MIMU/odometer fusion is proposed. The attitude error,velocity error and position error of Strap-down Inertial Navigation System(SINS),as well as the zero bias of the gyroscope and zero bias of the accelerometer,are taken as the error state vectors to construct an error state model;The difference between the distance increment solved by SINS and the distance increment calculated by the odometer module,and the speed information of x-axis and z-axis in the carrier coordinate system solved by SINS are used as the error observation quantities,and the error observation model is constructed by analyzing and processing the error information of the odometer due to skidding and idling. The attitude,velocity and position solved by SINS are compensated for errors by Extended Kalman Filtering (EKF),and the trajectory of the inspection robot in the pipe is plotted. The in-pipe inspection robot passes through a 111-meter-long gas pipeline with a positioning accuracy of 0.99％,which meets the requirements for autonomous positioning of the in-pipe inspection robot.
关键词
管道内检测机器人/里程计/MIMU/融合定位/扩展卡尔曼滤波
Key words
buried gas pipeline robot/odometer/MIMU/fusion positioning/extended kalman filter
维普
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