TY - JOUR
T1 - Low-cost IMU and odometer tightly coupled integration with Robust Kalman filter for underground 3-D pipeline mapping
AU - Zhang, Penghe
AU - Hancock, Craig Matthew
AU - Lau, Lawrence
AU - Roberts, Gethin Wyn
AU - de Ligt, Huib
N1 - Funding Information:
This research was supported by Zhejiang Provincial Natural Science Foundation of China under Grant No. LY16D040001 . The work in this paper is also supported by the Ningbo Science and Technology Bureau as part of the project ‘Structural Health Monitoring of Infrastructure in the Logistics Cycle ( 2014A35008 )’. The authors gratefully acknowledge the Ningbo Institute of Surveying and Mapping for lending the DuctRunner equipment. Besides, the authors would like to acknowledge Changhong Xu and Xuetao Li from this institute for helping with the DuctRunner calibration and experiment set up.
Publisher Copyright:
© 2019
Copyright:
Copyright 2019 Elsevier B.V., All rights reserved.
PY - 2019/4
Y1 - 2019/4
N2 - 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.
AB - 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.
KW - Low-cost IMU
KW - Odometer
KW - Robust Kalman filter
KW - Tightly coupled integration
KW - Underground pipeline mapping
UR - http://www.scopus.com/inward/record.url?scp=85061102675&partnerID=8YFLogxK
U2 - 10.1016/j.measurement.2019.01.068
DO - 10.1016/j.measurement.2019.01.068
M3 - Journal article
AN - SCOPUS:85061102675
SN - 0263-2241
VL - 137
SP - 454
EP - 463
JO - Measurement: Journal of the International Measurement Confederation
JF - Measurement: Journal of the International Measurement Confederation
ER -