스무딩 필터를 이용한 지하 매설 배관의 수치 지도 작성

Abstract

To know the location of gas pipeline we have to detect the pipeline by pipeline-locator. And we survey theposition obtained from the pipeline-locator. This paper addresses a new method of obtaining the location of gas pipeline.PIG (Pipeline Inspection Gauge) is an instrument to find the location of pipeline. It goes along with the inside of pipeline bygas pressure and it gives the data to calculate the position, velocity, attitude of PIG. These data consist of IMU data,odometer data, landmark data. We apply these data to smoothing algorithm. To obtain better navigation result, we musttune the Q, R of data. And this paper explains the method of Q, R tuning. The landmark is used for correcting the positionof PIG. If the landmark data has time error or position error, the navigation result is directly effected by these error. Thispaper explains the navigation result by landmark error and also gives the distance of two landmarks to obtain the navigationresult within an allowable error in a straight line.