Calculation method of angle and direction of pipe elbow based on inertial measurement
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摘要: 为了判断管道弯头的通过能力，实现对埋地管道弯头参数的测量，采用惯性导航技术进行管道弯头参数解算。利用陀螺仪数据计算得到管道弯头角度，结合里程计数据计算曲率半径和曲率；利用加速度计数据计算管道弯头起始处的姿态，并通过姿态矩阵更新算法实现管道弯头走向的提取。通过对含有标准弯头的管段进行试验，结果表明，该方法可准确给出弯头走向，弯头角度计算综合误差在7%以内，能够满足工程实践需求，具有工程实用价值。Abstract: In order to judge the passing capacity of the pipe elbow and realize the measurement of the elbow parameters of the buried pipeline, the inertial navigation technology is used to calculate the parameters of the pipe elbow. The angle of pipe elbow is calculated by gyroscope data, and curvature radius and curvature are calculated with odometer data; the attitude at the beginning of the elbow is calculated by using the accelerometer data, and the direction of the pipe elbow is extracted by updating the attitude matrix. By performing the pipe section experiment with standard elbow, the results show that the method can accurately give the direction of the pipe elbow, and the comprehensive error of pipe elbow angle calculation is within 7%, which can meet the needs of engineering practice and has engineering practical value.
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Keywords:
- inertial navigation /
- pipe elbow /
- elbow angle /
- elbow direction /
- curvature radius
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