Wyniki wyszukiwania - Biblioteka Nauki

Ten serwis zostanie wyłączony 2025-02-11.

Nowa wersja platformy, zawierająca wyłącznie zasoby pełnotekstowe, jest już dostępna.
Przejdź na https://bibliotekanauki.pl

Ograniczanie wyników

1 Metrology and Measurement Systems

1 2021

Znaleziono wyników: 1

Liczba wyników na stronie

Wyniki wyszukiwania

Wyszukiwano:
w słowach kluczowych: trajectory determination

Sortuj według:

Ogranicz wyniki do:

Trajectory determination for pipelines using an inspection robot and pipeline features

100%

Zhang S. , Dubljevic S.

Metrology and Measurement Systems

2021

tom Vol. 28, nr 3

439--453

Geographic trajectory of a pipeline is important information for pipeline maintenance and leak detection. Although accurate trajectory of a ground pipeline usually can be directly measured by using global positioning system technology, it is much difficult to determine trajectory for an underground pipeline where global positioning system signal cannot be received. In this paper, a new method to determine trajectory for an underground pipeline by using a pipeline inspection robot is proposed. The robot is equipped with a low-cost inertial measurement unit and odometers. The kinematic model, measurement model and error propagation model are established for estimating position, velocity and attitude of the robot. The path reconstruction algorithm for the robot is proposed to improve accuracy of trajectory determination based on pipeline features. The experiment is given to illustrate that the position errors of the proposed method are less than 40% of that of the standard extended Kalman filter.