Application of Kalman filtering in pipeline geographical coordinates positioning system

For the problem of large random error of inertial sensor in collecting data,error models were established and Kalman filter algorithm was applied for error correction to improve the positioning accuracy.With the strapdown inertial navigation technology,the pipeline positioning was performed and a detailed distribution of underground pipe shape was obtained.The practical circuit was built and simulated.The filtering algorithm was used to conduct the denoise processing for the collected inertia data,and the data before and after filtering was compared.The results show that the filtering algorithm can reduce the random error of the acceleration signal effectively,and the movement trajectory of the inertial sensors can be calculated in short distance.It is proved that the present detection system can realize the pipeline geographic coordinates positioning by the method of reducing the inertia error.