Low-cost IMU and odometer tightly coupled integration with Robust Kalman filter for underground 3-D pipeline mapping

Penghe Zhang, Craig Matthew Hancock, Lawrence Lau, Gethin Wyn Roberts, Huib de Ligt

Research output: Journal article publicationJournal articleAcademic researchpeer-review

7 Citations (Scopus)


A low-cost IMU and odometer integration system is developed in this paper for underground pipeline mapping. A tightly coupled integration between IMU and odometer is implemented to decrease the error caused by the odometer installation attitude error and scale factor error. Besides this, a novel approach to this application of using a Robust Kalman filter is developed to remove the effect of odometer measurement outliers due to the wheel-slip. Compared with the loosely coupled integration method, the use of loosely coupled integration with scale factor correction, tightly coupled integration and tightly coupled with Robust Kalman filter provide a horizontal position improvement of 11%, 41% and 43%, respectively. Similarly, the height accuracy is improved by 14%, 50% and 57%. Moreover, after applying the Robust Kalman filter, the positioning error caused by wheel-slip is reduced to 0.61 m in the horizontal plan, and 0.11 m in the height.

Original languageEnglish
Pages (from-to)454-463
Number of pages10
JournalMeasurement: Journal of the International Measurement Confederation
Publication statusPublished - Apr 2019
Externally publishedYes


  • Low-cost IMU
  • Odometer
  • Robust Kalman filter
  • Tightly coupled integration
  • Underground pipeline mapping

ASJC Scopus subject areas

  • Instrumentation
  • Electrical and Electronic Engineering

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