Application Of Integrated Navigation System For Measuring Pipeline Geography Position

It is very important to measuring geographical position of pipelines accurately can improve maintain efficiency of pipelines and distributing information of pipelines. Integrated navigation system is development direction of integrated navigation technique latest several years. Comparing to single navigation system, integrated navigation system can improve measuring precision of geographical position obviously. That integrated navigation system is had application in measuring geographical position can have measuring geographical position of pipelines accurately. Therefore GPS/INS integrated navigation positioning technique is advanced detecting and positioning technique in pipelines at present. It is also a main method that measuring geographical position of pipelines through.Firstly in the paper expatiating characteristic, principle and development status in quo of integrated navigation system. Introducing some basic knowledge which are necessary for navigation. Analyzing and making derivation basic algorithm of strapdown inertial navigation system. Secondly analyzing basic algorithm of GPS navigation system, i.e. positioning with GPS pseudo-range observations and positioning with GPS carrier phase measurements. Introducing only positioning pseudo-range observations. Researching error source of GPS positioning. Thirdly researching main algorithm that can correct the error of integrated navigation system, i.e. Kalman filtering Analyzing principle and algorithm of Kalman filtering. Finally processing hardware design of inertial navigation system, using hardware PCB for collecting data of motion body.In the paper through researching feature and algorithm of GPS and INS, Establish model of GPS/INS integrated navigation system. Based on characteristic of pipeline pig motion in pipelines, bring forward solution of integrated navigation system in measuring geographical position of pipelines. Through analyzing collected data of motion body, can see motiondirection of body clearly, for more calculating motion trace of body providing sustain strongly, and explaining that measuring motion of body is possible through inertial measurement unit.