基于组合导航的管道内部定位仿真与误差分析

当前各种管道内部定位方法的单独使用都不能满足管道实际工程的精度要求，提高定位精度的有效方法是采用组合导航技术，国内外对于管道内检测定位技术的研究也集中在多理论、多方法的组合方面。基于此，根据油气管道内部定位的特点，提出由里程仪和SINS组成的组合导航定位方式，然后建立基于卡尔曼滤波数据融合技术的轨迹仿真器、捷联惯导器件和里程仪仿真模型，进行仿真试验，对组合定位技术进行误差分析，实现了在没有地面标记、定点磁标等辅助设备的情况下，定位精度达到0.03%。

Simulation and Error Analysis for Pipeline Internal Positioning Based on Integrated Navigation

The separate application of the current pipeline internal positioning methods may fail to satisfy the actual accuracy requirements of pipeline works. Therefore, an effective method of improving the positioning accuracy is to employ the integrated navigation technology. The existing research on the pipeline internal inspection and positioning technology in China and abroad mainly focuses on a multi-theory and multi-method combination. Hence, this study proposes a positioning method based on integrated navigation, which consists of odometers and the Strap-down Inertial Navigation System (SINS), according to the internal positioning characteristics of the oil and gas pipeline. Furthermore, the simulation models of the trajectory simulator, the SINS device, and the odometer based on the Kalman filter data fusion technology are established. In addition, a simulation experiment is conducted, and the error analysis for the integrated positioning technology is performed, thereby achieving a 0.03% positioning accuracy without auxiliary equipment, such as land marks and fixed-point magnetic markers.