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An off-line navigation of a geometry PIG using a modified nonlinear fixed-interval smoothing filter
Cited 26 time in
Web of Science
Cited 46 time in Scopus
- Authors
- Issue Date
- 2005
- Publisher
- Elsevier
- Citation
- Control Engineering Practice, 13(11), 1403–1411.
- Keywords
- Extended Kalman filter ; Nonlinear smoothing ; Strapdown inertial navigation system ; Geometry PIG
- Abstract
- In this paper, a modified nonlinear fixed-interval smoothing filter is proposed for an off-line Strapdown Inertial Navigation
System (SDINS) suitable for a geometry Pipeline Inspection Gauge (PIG). The proposed smoothing filter has a two-filter structure and a modified propagation and update equation for the backward filter. A complete smoothing algorithm with the modified backward filter is successfully applied to the geometry PIG developed by Korea Gas Company and Seoul National University, demonstrating that the proposed smoothing filter provides accurate navigation data in a harsh physical environment.
- ISSN
- 0967-0661
- Language
- English
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