Research On Micro-inertial Integrated Positioning Technology Of Small-diameter Pipeline Surveying And Mapping Robot

In recent years,the urban underground pipe network has become more and more complex,and the length of pipelines has also increased sharply,which has brought many problems to the urban construction and management.Therefore,it is one of the important contents of urban construction to realize the mapping and accurate positioning of the urban underground pipe network and improve the underground pipe network management system.Due to the different materials and types of pipelines,it has brought many difficulties to the underground pipeline network positioning and mapping.Moreover,the domestic pipeline positioning technology is limited and related positioning equipment is lacking.A large number of advanced positioning equipment still depends on imports and is expensive.Therefore,this subject has designed a small-diameter pipeline surveying and mapping robot combined positioning system composed of Micro Inertial Measurement Unit and odometer,which is suitable for urban underground pipe network surveying and mapping work,and studied its key technologies including positioning sensor calibration and compensation,MIMU/ odometer combined positioning algorithm,which includes the following aspects:First,combined with the research status of domestic and foreign small-diameter pipeline surveying and mapping robots and their positioning technology,summarize the advantages and disadvantages of the in-pipe positioning method based on inertial navigation technology,and carry out the overall design of the MIMU/odometer-based small-diameter pipeline surveying and mapping robot combined positioning system scheme,The designed system composition is modularized,and the experimental platform is divided into two parts: data acquisition hardware system and offline data processing software system.The data acquisition system is mainly responsible for the collection and storage of MIMU and odometer sensor data.After offline processing and analysis of the stored data,Matlab data processing software is used for data calculation to determine the pipeline trajectory coordinates.Secondly,the strapdown inertial navigation solution and odometer navigation location algorithm of small-diameter pipeline mapping robot were studied.Allan variance analysis was carried out in addition to simulation analysis and comparison of various algorithms involved,so as to verify the feasibility of the algorithm and determine the location algorithm selected for this topic.At the same time,the passability of the small-diameter pipeline surveying and mapping robot designed by the subject is expanded.Then,the error parameters of the MIMU sensor and the odometer of the small-diameter pipeline surveying robot positioning system are calibrated before positioning and mapping.After calibration and compensation,MIMU gyroscope,meter and odometer are used for dynamic experiments.The accuracy of the sensor error calibration results of the pipeline positioning system in this paper is verified by simulation and real object calibration experiments.Finally,an experiment platform was carried out to simulate the internal positioning of the small-diameter pipeline surveying and mapping robot designed in this paper to verify the rationality of the positioning system scheme,verify the positioning accuracy of combined navigation and determine whether it meets urban underground small-diameter pipeline network positioning and mapping project.