The paper discusses the development of an adaptive Kalman filter for pipeline surveying applications. Various measurement models are developed and numerically tested using a real natural gas pipeline dataset. Since, for tactical-grade IMUs, odometer-derived velocity measurements alone cannot yield good results, two non-holonomic constraints are augmented to make the three-direction measurement model. Smoothing computation is also applied to yield the best trajectory using all the information contained in the past, current and future measurements. The trajectory errors are within 10-20 in for extreme cases, and within 10 m for most cases. RMS of the trajectory errors is expected to be about 2-5 m.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Navigation Kalman filter design for pipeline pigging


    Beteiligte:
    Shin, Eun-Hwan (Autor:in) / El-Sheimy, N. (Autor:in)

    Erschienen in:

    The Journal of Navigation ; 58 , 2 ; 283-295


    Erscheinungsdatum :

    2005


    Format / Umfang :

    13 Seiten, 7 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    Navigation Kalman Filter Design for Pipeline Pigging

    Shin, Eun-Hwan | Online Contents | 2005


    Pipeline design considerations for pigging

    Fisher, H. | British Library Conference Proceedings | 1998


    European pipeline pigging conference

    British Library Conference Proceedings | 1999


    Pipeline pigging and integrity monitoring

    Pipes and Pipelines International | British Library Conference Proceedings | 1990


    Pipeline pigging and integrity monitoring

    British Library Conference Proceedings | 1994