Integration of low cost IMU and odometer for underground 3D pipeline mapping
Recently an increasing number of underground pipes have been estab-lished,particularly in city centres,for different applications such as sewage,electricity,gas,water and drainage.How to detect and make a precise 3-dimensional survey of underground pipelines has become a focused issue.Currently buried pipeline detection techniques have several disadvantages such as difficultly to detect non-metallic pipes,limited depth,and susceptibility to electromagnetic interference.GNSS is widely used to position these detection technologies,but GNSS cannot always provide position to the required accuracy,particularly in urban areas.This paper presents a positioning system based on inertial technology including low-cost micro electrical mechanical systems (MEMS) inertial measurement unit (IMU) and odometer for 3D pipeline mapping.To mitigate the drift error of IMU sensor,an extended Kalman filter is designed to fuse redundant and complementary measurements from the IMU and odometer.An approximately 30m long test pipeline is set up to assess the positioning accuracy of this system.
inertial measurement unit odometer extended Kalman filter under-ground 3D pipeline mapping
Penghe Zhang Craig Hancock Lawrence Lau Gethin Roberts Changhong Xu
The University of Nottingham, Ningbo, China The Ningbo Institute of Surveying and Mapping
国内会议
长沙
英文
1-12
2016-05-01（万方平台首次上网日期，不代表论文的发表时间）