Low-cost IMU and odometer tightly coupled integration with Robust Kalman filter for underground 3-D pipeline mapping
| Autor: | Huib de Ligt, Penghe Zhang, Gethin Wyn Roberts, Lawrence J. Lau, Craig M. Hancock |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
Underground pipeline
Computer science Applied Mathematics Robust kalman filter Pipeline (computing) 020208 electrical & electronic engineering 010401 analytical chemistry 02 engineering and technology Condensed Matter Physics Scale factor 01 natural sciences Odometer 0104 chemical sciences Control theory Inertial measurement unit Outlier Horizontal position representation 0202 electrical engineering electronic engineering information engineering Electrical and Electronic Engineering Instrumentation |
| Zdroj: | Measurement. 137:454-463 |
| ISSN: | 0263-2241 |
| Popis: | A low-cost IMU and odometer integration system is developed in this paper for underground pipeline mapping. A tightly coupled integration between IMU and odometer is implemented to decrease the error caused by the odometer installation attitude error and scale factor error. Besides this, a novel approach to this application of using a Robust Kalman filter is developed to remove the effect of odometer measurement outliers due to the wheel-slip. Compared with the loosely coupled integration method, the use of loosely coupled integration with scale factor correction, tightly coupled integration and tightly coupled with Robust Kalman filter provide a horizontal position improvement of 11%, 41% and 43%, respectively. Similarly, the height accuracy is improved by 14%, 50% and 57%. Moreover, after applying the Robust Kalman filter, the positioning error caused by wheel-slip is reduced to 0.61 m in the horizontal plan, and 0.11 m in the height. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|
Full Text from ScienceDirect