Global localization of in-pipe robot based on ultra-long wave antenna array and global position system |
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| Authors: | Qi Haiming Zhang Xiaohua Chen Hongjun Sun Dongchang Sun Yongtai |
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| Institution: | 1. Department of Electrical Engineering,Harbin Institute of Technology,Harbin 150001,P.R.China
2. Institute of Oil Well Technology,Shengli Oil Field,Dongying 257064,P.R.China |
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| Abstract: | A global localization system of in-pipe robot is introduced in this paper.Global position system (GPS)is applied to monitor the motion of robot along the whole pipeline which is equally divided into many segments by tracking stations.The definite segment in which robot existing can be detected and this is long-range localization.Ultra-long wave(ULW)is adopted to solve the problem of metallic shielding and realize effective communication between inside and outside of pipeline.ULW emitter is carried by robot.... |
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| Keywords: | pipeline robot ultra-long wave (ULW) global localization antenna array signal fusion |
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