Enhanced MEMS SINS Aided Pipeline Surveying System by Pipeline Junction Detection in Small Diameter Pipeline

Guan, Lei; Cong, Xiaodan; Sun, Yunlong; Gao, Yanbin; Iqbal, Umar; Noureldin, Aboelmagd

doi:10.1016/j.ifacol.2017.08.962

Cited by 21 publications

(15 citation statements)

References 6 publications

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“…The second valuable scheme of the intelligent PIG surveying technology is the SINS/Odo/AGM/PJ integrated method. Its schematic diagram is shown in Figure 8 [ 36 , 80 , 81 ]. Firstly, the measurements of the micro-inertial sensors are used for SINS mechanization to obtain the pipeline central line coordinates and routing orientation continuously.…”

Section: Multi-sensor Fused Small-diameter Intelligent Pig Surveyimentioning

confidence: 99%

“…Finally, the detection of the PJs is adopted for the continuous azimuth and pitch angles updates in each independent SPS. Hence, the SINS/Odo/AGM/PJ-based intelligent PIG surveying technology could improve the overall surveying precision by 50–70% in different research when compared with the previous SINS/Odo/AGM integration scheme [ 36 , 80 , 81 ].…”

Section: Multi-sensor Fused Small-diameter Intelligent Pig Surveyimentioning

confidence: 99%

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A Comprehensive Review of Micro-Inertial Measurement Unit Based Intelligent PIG Multi-Sensor Fusion Technologies for Small-Diameter Pipeline Surveying

et al. 2020

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It is of great importance for pipeline systems to be is efficient, cost-effective and safe during the transportation of the liquids and gases. However, underground pipelines often experience leaks due to corrosion, human destruction or theft, long-term Earth movement, natural disasters and so on. Leakage or explosion of the operating pipeline usually cause great economical loss, environmental pollution or even a threat to citizens, especially when these accidents occur in human-concentrated urban areas. Therefore, the surveying of the routed pipeline is of vital importance for the Pipeline Integrated Management (PIM). In this paper, a comprehensive review of the Micro-Inertial Measurement Unit (MIMU)-based intelligent Pipeline Inspection Gauge (PIG) multi-sensor fusion technologies for the transport of liquids and gases purposed for small-diameter pipeline (D<30cm) surveying is demonstrated. Firstly, four types of typical small-diameter intelligent PIGs and their corresponding pipeline-defects inspection technologies and defects-positioning technologies are investigated according to the various pipeline defects inspection and localization principles. Secondly, the multi-sensor fused pipeline surveying technologies are classified into two main categories, the non-inertial-based and the MIMU-based intelligent PIG surveying technology. Moreover, five schematic diagrams of the MIMU fused intelligent PIG fusion technology is also surveyed and analyzed with details. Thirdly, the potential research directions and challenges of the popular intelligent PIG surveying techniques by multi-sensor fusion system are further presented with details. Finally, the review is comprehensively concluded and demonstrated.

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Section: Multi-sensor Fused Small-diameter Intelligent Pig Surveyimentioning

confidence: 99%

Section: Multi-sensor Fused Small-diameter Intelligent Pig Surveyimentioning

confidence: 99%

A Comprehensive Review of Micro-Inertial Measurement Unit Based Intelligent PIG Multi-Sensor Fusion Technologies for Small-Diameter Pipeline Surveying

et al. 2020

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“…The system error model is provided in Section 2.2. For the measurement state variables, there are four kinds of measurement models when PIG staying in different stages of the pipeline [22].…”

Section: Measurement Models Of Micro-inertial/agm/odometer/pj Systemmentioning

confidence: 99%

Micro-Inertial-Aided High-Precision Positioning Method for Small-Diameter PIG Navigation

Guan¹,

Xu²,

Gao³

et al. 2019

Advances in Human and Machine Navigation Systems

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Pipeline leakage or explosion has caused huge economic losses, polluted the environments and threatened the safety of civilian's lives and assets, which even caused negative influences to the society greatly. Fortunately, pipeline inspection gauge (PIG) could accomplish the pipeline defect (corrosions, cracks, grooves, etc.) inspection effectively and meanwhile to localize these defects precisely by navigation sensors. The results are utilized for pipeline integrity management (PIM) and pipeline geographic information system construction. Generally, the urban underground pipeline presents with smalldiameter and complicated-distribution properties, which are of great challenges for the pipeline defects positioning by PIG. This chapter focuses on in-depth research of the highprecision positioning method for small-diameter PIG navigation. In the beginning, the problems and system errors statement of MEMS SINS-based PIG are analyzed step by step. Then, the pipeline junction (PJ) identification method based on fast orthogonal search (FOS) is studied. After that, a PIG positioning system that comprises of microinertial/AGM/odometer/PJ is proposed, and also the application mechanism of extended Kalman filter and its smoothing technology on PIG navigation system is researched to improve the overall positioning precision for the small-diameter PIG. Finally, the proposed methods and research conclusions are verified by the indoor wheel robot simulation platform.

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“…IMUs typically use a magnetometer and accelerometer to give absolute measurements of heading and downwards direction and use gyroscopes for rate of change in angles. In the pipe environment, it is expected that the magnetometer component will not give a reliable measurement of heading angle, and so, the measurement using the gyroscope alone will suffer from drift due to integrated error [ 14 , 15 ]. Therefore, methods have been developed to use IMU measurements in combination with tethers measuring distance travelled [ 16 , 17 ], knowledge of known landmark positions [ 18 , 19 ], and knowledge of the length of pipe sections [ 20 ] in order to correct drift.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, methods have been developed to use IMU measurements in combination with tethers measuring distance travelled [ 16 , 17 ], knowledge of known landmark positions [ 18 , 19 ], and knowledge of the length of pipe sections [ 20 ] in order to correct drift. IMUs have also been used to detect features such as junctions and corners [ 15 , 21 , 22 ].…”

Section: Introductionmentioning

confidence: 99%

Robot Localization in Water Pipes Using Acoustic Signals and Pose Graph Optimization

Worley

Sailor

et al. 2020

Sensors

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One of the most fundamental tasks for robots inspecting water distribution pipes is localization, which allows for autonomous navigation, for faults to be communicated, and for interventions to be instigated. Pose-graph optimization using spatially varying information is used to enable localization within a feature-sparse length of pipe. We present a novel method for improving estimation of a robot’s trajectory using the measured acoustic field, which is applicable to other measurements such as magnetic field sensing. Experimental results show that the use of acoustic information in pose-graph optimization reduces errors by 39% compared to the use of typical pose-graph optimization using landmark features only. High location accuracy is essential to efficiently and effectively target investment to maximise the use of our aging pipe infrastructure.

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Enhanced MEMS SINS Aided Pipeline Surveying System by Pipeline Junction Detection in Small Diameter Pipeline

Cited by 21 publications

References 6 publications

A Comprehensive Review of Micro-Inertial Measurement Unit Based Intelligent PIG Multi-Sensor Fusion Technologies for Small-Diameter Pipeline Surveying

A Comprehensive Review of Micro-Inertial Measurement Unit Based Intelligent PIG Multi-Sensor Fusion Technologies for Small-Diameter Pipeline Surveying

Micro-Inertial-Aided High-Precision Positioning Method for Small-Diameter PIG Navigation

Robot Localization in Water Pipes Using Acoustic Signals and Pose Graph Optimization

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