CAJ | 학술논문

针对海底石油管道漏油位置检测定位这一问题,提出了捷联惯性导航系统与同时构图定位算法相组合的水下导航定位方法.利用声纳传感器采集石油管道的特征位置信息,在同时构图定位算法的作用下构建管道地图并获得高精度定位信息.然后利用粒子滤波算法将上述获得的定位信息与捷联惯性导航系统相结合,以补偿其位置误差积累.仿真实验结果显示所述组合方法的定位精度较高,达到总航程的0.1%.
침대해저석유관도루유위치검측정위저일문제,제출료첩련관성도항계통여동시구도정위산법상조합적수하도항정위방법.이용성납전감기채집석유관도적특정위치신식,재동시구도정위산법적작용하구건관도지도병획득고정도정위신식.연후이용입자려파산법장상술획득적정위신식여첩련관성도항계통상결합,이보상기위치오차적루.방진실험결과현시소술조합방법적정위정도교고,체도총항정적0.1%.
In view of the problem of oil pipe leakage detection positioning under the sea, an integrated navigation positioning method was put forward, which combined the strap-down inertial navigation system (SINS) with the simultaneous localization and mapping(SLAM) algorithm. The feature position information of oil pipeline was collected by sonar sensor, and under the action of SLAM algorithm, the pipeline map was built and high precision positioning information was obtained. Then the position error accumulation was compensated by using the particle filter algorithm to combine the obtained location information with SINS. The simulation experiment results show that the positioning precision is increased to about 0.1% of the total voyage.