高精度管线测量机器人多传感器集成方法
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摘要
针对现有地下管道探测方法适用性差、易受环境干扰、测量精度低等问题,提出了一种基于管道测量小车,多传感器数据融合的高精度管线测量机器人集成方案。系统以管道测量小车为平台,FPGA为控制核心,挂载惯性测量单元、里程测算单元,通过实时测量管道小车的姿态信息,同时融合里程数据及起止位置坐标推算地下管道的埋深、走向等信息。测试结果表明,本系统的适用性好、抗干扰性强,实现了对地下管道三维航迹参数的实时测量,以及测量数据的同步传输和存储;数据解算达到了95 m横向重复性±40 mm,高程重复性优于±20 mm的高精度曲线测量指标。
Aiming at the problems of poor applicability, vulnerability to environmental interference and low measurement accuracy of existing underground pipeline detection methods, a high-precision pipeline measurement robot integration scheme based on pipeline measurement trolley and multi-sensor data fusion is proposed. The system uses the pipeline measurement trolley as the platform, the FPGA is the control core, the inertial measurement unit and the mileage measurement unit are mounted. The attitude information of the pipeline trolley is measured in real time, and the mileage and the position of the underground pipeline are calculated by integrating the mileage data and the starting and ending position coordinates. The test results show that the system has good applicability and strong anti-interference ability, real-time measurement of three-dimensional track parameters of underground pipelines, and synchronous transmission and storage of measurement data; data solution reaches 95 m lateral repeatability ±40 mm, the repeatability of the elevation is better than the ±20 mm high-precision curve measurement index.
Aiming at the problems of poor applicability, vulnerability to environmental interference and low measurement accuracy of existing underground pipeline detection methods, a high-precision pipeline measurement robot integration scheme based on pipeline measurement trolley and multi-sensor data fusion is proposed. The system uses the pipeline measurement trolley as the platform, the FPGA is the control core, the inertial measurement unit and the mileage measurement unit are mounted. The attitude information of the pipeline trolley is measured in real time, and the mileage and the position of the underground pipeline are calculated by integrating the mileage data and the starting and ending position coordinates. The test results show that the system has good applicability and strong anti-interference ability, real-time measurement of three-dimensional track parameters of underground pipelines, and synchronous transmission and storage of measurement data; data solution reaches 95 m lateral repeatability ±40 mm, the repeatability of the elevation is better than the ±20 mm high-precision curve measurement index.
引文
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[3] 刘澜波,钱荣毅.探地雷达:浅表地球物理科学技术中的重要工具[J].地球物理学报,2015,58(8):2606-2617.
[4] 丁振兴,宋华.基于DSP的地下管道测量系统设计[J].DSP开发与应用,2010,26(8-2):107-108,196.
[5] 李睿,冯庆善,蔡茂林,等.基于多传感器数据融合的长输埋地管道中心线测量[J].石油学报,2014,35(5):987-992.
[6] 陈燕,刘守山.基于CPLD的光电编码器四倍频电路的设计[J].国外电子测量技术,2015,34(1):45-48.
[7] 刘占超,房建成,刘百奇.一种改进的高精度POS时间同步方法[J].仪器仪表学报,2011,32(10):2198-2204.
[8] 陈小宇.多传感器高精度同步方法及其在移动测量的应用[D].武汉:武汉大学,2013.
[9] 陈小宇,堵刚刚,向春玲.道路普查多传感器数据采集[J].电子测量技术,2017,40(8):174-179.
[10] 聂梦馨,吕品,赖际舟,等.一种光纤IMU的双轴非定向标定方法[J].电子测量技术,2014,37(8):123-128.
[11] 陈小宇,毛庆洲,张亮,等.基于FPGA的IMU信号采集与处理[C].第二届中国卫星导航学术年会,2011.
[12] SHIN E H.Estimation techniques for low-cost inertial navigation[D]. Calgary Canada: University of Calgary,2005.
[13] 大铁检测,DT-GXY-200型IMU管道三维姿态测量仪[EB/OL].http://www.szdatie.com/website/product/ 15_22.html.2018-11-1.
[14] 南方测绘,南方管道三维姿态测量仪(SGXY-20)[EB/OL].http://www.southsurvey.com/product_view.php?big=133&small=140&id=370.2018-11-1.
[15] 零偏科技,地下管线惯性定位仪[EB/OL].http://www.lingpiankeji.com/.2018-11-1.