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发明公开
CN110440796A 基于旋转磁场和惯导融合的管道机器人定位装置及方法 审中-实审

基于旋转磁场和惯导融合的管道机器人定位装置及方法
摘要：
本发明提供了基于旋转磁场和惯导融合的管道机器人定位装置及方法，属于定位导航领域。本发明的定位方法，具体步骤为：根据磁偶极子定位的原理确定定位对象的坐标x、y；通过管道机器人定位定姿算法得到管道机器人的位置和速度信息；将定位机器人的位置和速度信息与磁偶极子定位得到的位置和速度信息作差得到误差；将得到的速度和位置误差作为量测值，进行组合卡尔曼滤波；经过卡尔曼滤波，利用得到的数据校正管道机器人的位置和速度，并将其反馈到捷联惯导系统中。本发明提出了一种先进的磁偶极子定位算法，并利用此方法对捷联惯导定位系统进行校正补偿，使得新的定位定姿系统可以长时间高精度用于管道机器人的定位和定姿。
摘要（英）：

The invention provides a pipeline robot positioning device and method based on a rotary magnetic field and inertial navigation, belonging to the field of positioning navigation. The positioning methodcomprises specific steps of: determining coordinates x and y of a positioned target according to a magnetic dipole positioning principle; obtaining location and speed information of a pipeline robotby using a pipeline robot positioning attitude algorithm; performing subtraction on location and speed information of the positioning robot and location and speed information obtained through positioning by a magnetic dipole so as to obtain an error, and performing combined Kalman filtering with obtained speed and location error as a measurement value; and after Kalman filtering, correcting location and speed of the pipeline robot by using obtained data, and feeding the corrected location and speed back to a strapdown inertial navigation system. In the invention, an advanced magnetic dipole positioning algorithm is provided and is used to correct and compensate a strapdown inertial navigation positioning system, so that a new positioning attitude determining system can be used for positioning and determining attitude of a pipeline robot accurately for long.

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