组合导航技术在油气管道测绘系统中的应用

针对长输油气管线必须进行轨迹绘制和探伤定位的问题，设计了惯性管道测绘系统。系统核心部件为捷联惯导系统，辅助信号有里程计和定距离磁标信号，是一种全自主的导航系统。在系统算法设计中，通过建立捷联惯导与航位推算组合导航系统误差模型，利用改进的卡尔曼滤波器估计系统姿态、航向角误差和里程计标度因数误差。该系统数据处理具有非实时性的特点，因此设计了后向卡尔曼滤波器进行数据平滑。系统跑车试验证明该滤波算法能够有效的提高系统的定位精度，系统具有高精度、高可靠的特点，满足实际工程需要。

Application of integrated navigation technology in inertial pipeline surveying system

An inertial pipeline surveying system(IPSS) was designed to solve the problem that long oil or gas pipelines had to be measured and repaired. SINS was selected as core navigation system and the auxiliary signals were odometer(OD) and magnetic marks. IPSS was entirely autonomous navigation system. The error of SINS and Dead Reckoning(DR) combined navigation system was modeled and we used the improved Kalman Filter to estimate the attitude angle,course angle error and odometer scale factory error. We used the backward Kalman Filter to smooth the data because the data processing was nonreal-time. The integrated navigation algorithm is proved to be highly effective by the experiment. IPSS with high precision and high reliability features can satisfy the engineering need.