Optimization method of pipeline surveying and mapping internal inspection IMU data preprocessing
A technology for data preprocessing and optimization methods, which is applied in the direction of measuring devices, navigation through speed/acceleration measurement, instruments, etc., can solve the problems of deteriorating matching conditions, large amount of calculation, and many confounding factors, and achieve the possibility of misjudgment The effect of small, confounding factors, and small amount of calculation
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[0041] The present invention will be further described through specific embodiments below in conjunction with the accompanying drawings.
[0042] 1) The use premise of the judgment method of the present invention is:
[0043] The serving cylinder is "flat and straight", that is, the center line of the serving cylinder is basically horizontal to the ground plane, and the initial movement stage (2 to 3 meters) of the PIG in the serving cylinder moves along a straight line; the pipeline survey and mapping detects that the PIG is in the serving cylinder " Horizontal placement", that is, to ensure that the horizontal plane of the PIG (that is, the XOY plane of the internal IMU) is parallel to the ground plane; before the PIG moves, it needs to rest for more than 5 minutes to complete the initial alignment of the static base.
[0044] (2) The operation steps of this judgment method are as follows:
[0045] Step 1, define the initial conditions of the algorithm.
[0046] 1) Define ...
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