摘要
为提高长输油气管道中心线地理坐标的定位精度,对管道地理坐标测量系统的工作原理进行分析,提出一种基于卡尔曼滤波器的误差估计算法,对导航系统速度误差和里程计误差进行补偿。为降低里程计输出信号噪声带来的误差,利用分段线性插值方法进行数据预处理,实现对惯性导航系统观测数据的分段轨迹解算和修正。采用搭载低精度惯导系统的模拟检测器开展模拟试验,捷联惯性导航算法解算得到的轨迹与试验场地实际路线的整体形状和趋势吻合,解算误差在1 m以内。结果表明:在低精度测量器件条件下,基于卡尔曼滤波器的误差补偿与数据预处理方法能够有效滤除里程阶梯状误差,具有很好的解算精度和一定的应用价值。
In order to improve the positioning accuracy of the geographic coordinate where the center line of long-distance oil and gas pipeline is located,the working principle of the pipeline geographic coordinate measurement system was analyzed,and the error estimation algorithm based on Kalman filter was proposed to compensate the velocity error and odometer error of the navigation system.To lower the error caused by the odometer output signal noise,piecewise linear interpolation method was adopted for data preprocessing to accomplish piecewise trajectory calculation and correction of observation data from inertial navigation system.The simulation test was carried out via a simulation detector equipped with a low-precision inertial navigation system.It is indicated that the trajectory resolved by the strapdown inertial navigation system is consistent with the overall shape and trend of the actual route on test site,and the resolution error is within 1 m.The results show that the error compensation and data preprocessing method based on Kalman filter can effectively filter the step error of mileage under the condition of low-precision measuring devices,and therefore the method is provided with good calculation accuracy and certain application value.
作者
耿丽媛
徐春燕
刘剑
靳鹏
李佳音
GENG Liyuan;XU Chunyan;LIU Jian;JIN Peng;LI Jiayin(PetroChina West Pipeline Company;School of Information Science and Engineering,Shenyang University of Technology)
出处
《油气储运》
CAS
北大核心
2020年第10期1116-1121,共6页
Oil & Gas Storage and Transportation
关键词
管道地理坐标测量
管道内检测器
捷联惯性导航
卡尔曼滤波
线性插值
里程计
pipeline geographic coordinate measurement
in-line detector
strapdown inertial navigation
Kalman filter
linear interpolation
odometer
