gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»10.17285/0869-7035.0082gyroscopy-121Research ArticleСтатьиНовое решение задачи фильтрации для внутритрубной навигации при применении в снаряде микромеханического инерциального модуляA Novel Constrained Filter Integrated with an Extended Kalman Filter in Underground Pipeline Navigation Using MEMS IMUhttps://orcid.org/0000-0003-0950-7038АфшарИ. Х.AfsharI. H.Афшар Исмаил Хатефи. Аспирантhttps://orcid.org/0000-0002-9654-6491ДелаварМ. Р.DelavarM. R.Делавар Махмуд Реза. Доктор наук, профессорhttps://orcid.org/0000-0002-8390-4093МошириБ.MoshiriB.

Мошири Бехзад. Доктор наук, профессор

Технический колледж, Тегеранский университетИранCollege of Engineering, University of TehranIslamic Republic of Iran2022200520253011238Copyright © Афшар И.Х., Делавар М.Р., Мошири Б., 20252025Афшар И.Х., Делавар М.Р., Мошири Б.Afshar I.H., Delavar M.R., Moshiri B.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.gyroscopy.ru/jour/article/view/121

В статье исследуется задача позиционирования первого в Тегеране магистрального газопровода (Тегеран–Кухнамак) с использованием бесплатформенной инерциальной навигационной системы (БИНС) на базе инерциального измерительного модуля (ИИМ) с микромеханическими чувствительными элементами (МЭМС), установленного на внутритрубном инспекционном (диагностическом) снаряде (далее – снаряд). Снаряд позволяет выработать координаты трубопровода протяженностью 111 км с дискретностью 4 мм. За основу решения навигационной задачи принят обобщенный фильтр Калмана (ОФК) с применением вариации Аллана для анализа и уточнения исходных данных. Одновременно используется специальный фильтр, данные которого комплексируются с данными ОФК, что обеспечивает коррекцию углов рыскания и тангажа, вырабатываемых снарядом. Для повышения надежности решения задачи вдоль трубопровода размещены 98 магнитных маркеров, координированные по данным GPS, а также в качестве измерений в ОФК привлекаются данные одометра. Полученные результаты свидетельствуют о том, что такой гибридный подход позволяет повысить точность позиционирования трубопровода примерно на 81% по сравнению с базовым алгоритмом ОФК. Кроме того, предложенный алгоритм позволяет повысить точность позиционирования на 32% и быстродействие на 55% по сравнению с разработанным в настоящее время другим интегрированным решением ОФК/РСТ, в котором также регистрируются соединения труб (РСТ).

To produce a 3D map of the Tehran’s first gas transfer pipeline (Tehran—Kuhnamak), a methodology has been developed in this research, in which a strapdown inertial navigation system (SINS) based on micro-electro-mechanical system (MEMS) and inertial measurement unit (IMU) is applied on pipeline inspection gauges (PIGs) to sense data every 4 millimeters of 111 kilometers of the whole pipeline. The navigation solution is based on an extended Kalman filter (EKF) using Allan variance (AVAR) to analyze and tune the EKF initial inputs. A new constrained PIG filter (CPF) is proposed in this paper in integration with EKF, in which two Euler angles (pitch and yaw) of the PIG are updated due to non-holonomic state constraints between pipe junctions. Besides, 98 magnetic control points have been used to increase robustness about every kilometer, which is coordinated by GPS. Furthermore, odometer measurements have been employed as measurements in the EKF. The results show that using such a hybrid approach has improved the PIG positioning accuracy by about 81% compared with that of the Basic EKF. In addition, positioning accuracy in comparison with the latest methods like EKF/pipeline junctions (PLJ) has increased by 32%. Furthermore, the proposed method is 55% better than EKF/ PLJ in the algorithm runtime. 

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The authors declare that there are no conflicts of interest present.