CAJ | 학술논문

针对管道测量系统MEMS惯性元件的漂移,且难于获得GPS信息进行有效误差累积抑制的问题,创建了管道测量系统9维系统状态误差方程和基于速度差和基准点位置差的观测方程,提出采用容积卡尔曼平滑滤波算法。该算法由以里程轮速度为观测量的正向容积卡尔曼滤波算法和以基准点位置为起点的反向平滑两级滤波组成,实现管道缺陷地理坐标的最优估计。管道缺陷定位实验结果表明,该算法能有效补偿长航时导航参数误差,10 km测量精度可以达到10-3数量级,能够满足管道内检测定位精度要求。
침대관도측량계통MEMS관성원건적표이,차난우획득GPS신식진행유효오차루적억제적문제,창건료관도측량계통9유계통상태오차방정화기우속도차화기준점위치차적관측방정,제출채용용적잡이만평활려파산법。해산법유이리정륜속도위관측량적정향용적잡이만려파산법화이기준점위치위기점적반향평활량급려파조성,실현관도결함지리좌표적최우고계。관도결함정위실험결과표명,해산법능유효보상장항시도항삼수오차,10 km측량정도가이체도10-3수량급,능구만족관도내검측정위정도요구。
Aiming at problems of navigation parameter endurance divergence of pipeline measurement system based on MEMS inertial components for long distance due to more difficult to access effectively to GPS information for cor-recting navigation errors in submarine pipeline. The cubature kalman smooth algorithm is put forward. The algorithm composes of two stage filters, one is the forward cubature kalman filter based on velocity difference between odometer wheel speed and navigation speed difference and second stage filter is backward kalman smooth filter with final reference points of pipeline measurements displacement being starting point of this stage filter to achieve the optimal estimation of pipeline defect geography coordinate. The results of pipeline geographical coordinates measure-ment experiments show that this method can effectively compensate the long-time navigation parameter errors,The measurement accuracy for 10 km long pipeline can reach the order of magnitude of 10-3 that can meet the precision requirement of the pipeline detection location.