Positioning Algorithm of MEMS Pipeline Inertial Locator Based on Dead Reckoning and Information Multiplexing

Abstract

High-precision mapping and positioning of urban underground pipelines are the basic requirements of urban digital construction. Aiming at the above problems, a dead reckoning algorithm based on the starting point and ending point correction and forward and reverse solution information reuse is proposed. This paper firstly establishes a dead reckoning system model consisting of a microelectromechanical system (MEMS) inertial measurement unit (IMU) and an odometer and analyzes the propagation mechanism of dead reckoning errors. The algorithm constructs the trajectory correction matrix by using the position information of the starting point and the ending point of the short-distance underground pipeline and then uses the trajectory correction matrix to correct the trajectory position information obtained by forward and reverse dead reckoning. Finally, the corrected forward and reverse trajectory position information is fused and averaged to achieve high-precision mapping and positioning of underground pipelines. The simulation results of the 100 m pipeline show that the maximum positioning error of the proposed algorithm for straight pipelines is within 5 cm, and the maximum positioning error for 90° curved pipelines is within 20 cm. The algorithm effectively solves the problem of a rapid accumulation of errors over time in the process of dead reckoning, which greatly improves the positioning accuracy.