Trajectory Drawing of Pipeline Robot Based on SINS/Odometer Integrated Navigation

In this paper, a new approach for trajectory drawing of pipeline robots based on strapdown inertial navigation system/odometer integrated navigation is designed in order to address the problem of inability to accurately extract the pipeline position information inside the pipeline. Firstly, motion data are collected by a pipeline robot equipped with an inertial measurement unit (IMU) and an odometer. Secondly, an error model for combined IMU and odometer integrated navigation is devised to address the problem of data error accumulation. Subsequently, Rauch-Tung-Striebel smoothing filtering is adopted to estimate the state of the error model, and the estimated state is ultimately used to compensate for the original data to achieve accurate trajectory drawing. Finally, an experiment is performed on the pipeline experimental platform to confirm the validity of the proposed approach.