【摘要】 由低成本微惯性测量单元(MIMU)和里程轮组合的管道定位系统在里程轮出现打滑情况下,组合定位误差将快速发散。为解决里程轮打滑时量测信息失效的问题,采用光电测速传感器作为冗余测速传感器,利用联邦滤波对MIMU、里程轮和光电测速传感器多源信息进行融合,并基于预测残差设计了自适应信息分配因子,实现了不同特性传感器的最优融合。仿真实验结果表明,提出的多传感器管道定位方法可以降低里程轮打滑导致的管道定位误差,对于120m长的仿真管道,定位误差为管线长度的0.015%。更多还原

【Abstract】 In the pipeline positioning system composed of low-cost MIMU and odometer, the positioning error increases when the wheel slips. In order to solve this problem, photoelectric speed sensor is used as redundant speed sensor. The federal filter is used to fuse the multi-source information of MIMU, odometer wheel and photoelectric speed sensor. Based on the prediction residual, the adaptive information allocation factor is designed to realize the optimal fusion of different characteristics of the sensors. The simulation results show that the multi-sensor pipeline positioning method proposed in this paper can reduce the pipeline positioning error caused by wheel-slip. For 120 m long simulation pipeline, the positioning error is 0.015% of the pipeline length.更多还原