管道地理位置测量系统的动态初始对准方法

针对长输油气管道地理位置测量系统的初始对准问题,提出了一种新的动态初始对准方法.建立了管道地理位置测量系统状态误差模型和以基准点之间的航向角误差、速度误差和位置误差为观测量的观测模型,设计了变尺度无迹卡尔曼滤波动态初始对准算法.结果表明,该算法所得初始对准俯仰角、航向角和横滚角的稳态误差分别为18.9'、6'和5',解决了姿态角周期性变化引起的初始对准精度差的问题,满足了管道地理位置测量系统的工程应用要求.

Dynamic initial alignment method for geographic position measurement system of pipeline

In order to solve the initial alignment problem for the geographic position measurement system of long distance oil and gas pipeline, a new dynamic initial alignment method was proposed. A status error model for the geographic position measurement system of pipeline and an observation model with taking the yaw angle error between reference points, speed error and position error as the observation vectors, were established. In addition, a dynamic initial alignment algorithm with the transformation scale unscented Kalman filtering was designed. The results show that the steady state errors of initial alignment pitch angle, yaw angle and roll angle are 18.9′, 6′ and 5′, respectively. The poor accuracy problem in initial alignment caused by the cyclical changes of attitude angle is solved, which can meet the requirements in the engineering application of pipeline position measurement system.