| 摘要: |
| 针对小口径管道的测绘问题，提出了一种MEMS惯测装置在小管道测绘系统中应用的方法，直接利用地标点信息为MEMS惯测装置装订初始方位，采用因子图理论对惯性/里程计组合导航信息进行处理，通过后续处理对装订误差进行修正，解决了MEMS惯测装置无法完成初始对准的问题。给出了惯性/里程计组合导航的因子图以及和积算法递推公式，并通过牵引试验对所提方法进行了验证。试验结果表明，提出的应用方法能够有效解决小口径管道的测绘问题，在100m间隔的路标点条件下，单边定位精度能够达到5cm。 |
| 关键词: MEMS惯测装置 管道测绘 因子图 和积算法 牵引试验 |
| DOI： |
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| 基金项目: |
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| Application of MEMS Inertial Technology for Pipe Measurement |
| YANG Ji-hong,MA Tao,WU Liang-hua,JI Yang |
| (A Representative Office of the Naval Equipment Department in Beijing Area, Beijing 100074, China;Beijing Institute of Automatic Control Equipment, Beijing 100074, China) |
| Abstract: |
| Aiming at the mapping problem of small-diameter pipelines, a method of applying MEMS inertial measurement unit(IMU) in small pipeline mapping system is proposed. The initial orientation of the MEMS IMU is assigned by the landmark point information, and the inertial/odometer integration navigation information is processed in the factor graph theory. The binding error is corrected in the subsequent processing, bypassing the problem that the MEMS IMU cannot complete the initial alignment. The factor graph of the inertial/odometer integrated navigation and the recursive formula of the sum product algorithm is given, and the dragging test is carried out to verify the algorithm. The test results show that the proposed application method can effectively solve the mapping problem of small-diameter pipelines. Under the condition of 100m interval of landmarks, the single axis positioning accuracy can reach 5cm. |
| Key words: MEMS IMU Pipe measurement Factor graph Sum-product algorithm Drag-ging test |
