- Tytuł:
- Trajectory determination for pipelines using an inspection robot and pipeline features
- Autorzy:
-
Zhang, Shuo
Dubljevic, Stevan - Powiązania:
- https://bibliotekanauki.pl/articles/1849012.pdf
- Data publikacji:
- 2021
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
trajectory determination
pipeline inspection robot
pipeline feature
path reconstruction algorithm - Opis:
- Geographic trajectory of a pipeline is important information for pipeline maintenance and leak detection. Although accurate trajectory of a ground pipeline usually can be directly measured by using global positioning system technology, it is much difficult to determine trajectory for an underground pipeline where global positioning system signal cannot be received. In this paper, a new method to determine trajectory for an underground pipeline by using a pipeline inspection robot is proposed. The robot is equipped with a low-cost inertial measurement unit and odometers. The kinematic model, measurement model and error propagation model are established for estimating position, velocity and attitude of the robot. The path reconstruction algorithm for the robot is proposed to improve accuracy of trajectory determination based on pipeline features. The experiment is given to illustrate that the position errors of the proposed method are less than 40% of that of the standard extended Kalman filter.
- Źródło:
-
Metrology and Measurement Systems; 2021, 28, 3; 439-453
0860-8229 - Pojawia się w:
- Metrology and Measurement Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł