Small-diameter pipeline robot high-precision positioning method based on turning angle

Abstract

The invention provides a small-diameter pipeline robot high-precision positioning method based on a turning angle. The small-diameter pipeline robot high-precision positioning method based on the turning angle mainly comprises the following steps of S11, detecting a pipeline by using a trolley with an inertial measurement unit and a plurality of odometers; S12, calculating the turning angle of the pipeline by using inertial measurement unit data and odometer data respectively; S13, performing position, speed and attitude angle error calculation on the turning angle detection information in combination with odometer detection information and non-integrity constraints in the pipeline; S14, calculating three-dimensional position information according to an initial position; correcting the inertial navigation calculation position by means of the length information of a straight pipeline section with the known length; S15, performing error compensation by adopting a Kalman filtering estimation method; S16, smoothing the data; and S17, determining the defect position of the pipeline. According to the small-diameter pipeline robot high-precision positioning method based on the turning angle provided by the invention, the problem that the overall positioning precision is influenced because the error is not considered from the overall perspective is solved.

Description

technical field [0001] The invention relates to the technical field of pipeline surveying and mapping, in particular to a pipeline robot surveying and mapping positioning method. Background technique [0002] At present, a large number of oil, gas, water and chemical substance transportation pipelines in service have caused widespread social concern due to leakage accidents and safety issues caused by corrosion, crustal movement, and man-made sabotage. In recent years, there have been hundreds of submarine pipeline leakage accidents publicly reported at home and abroad, and land pipeline leakage accidents have occurred more frequently, reaching more than a hundred a year. These leaks will not only affect normal oil and gas field production and cause major economic losses; they will also cause environmental pollution and ecological disasters; even explosions will threaten human life. What's more serious is that there are still many problems in the detection and positioning t...

AI Technical Summary

Problems solved by technology

[0008]Aiming at the deficiencies in the prior art, the present invention provides a high-precision positioning method for small-diameter pipeline robots based on the turning angle, which solves the problems in the prior art. There is a problem that the error is not considered as a whole, which affects the overall positioning accuracy

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