This paper presents a low-cost methodology to estimate the position of a pipeline inspection gauge (PIG). The environment in which the PIG navigates is inside the thick walls of a metallic pipeline, where it is not possible to receive a global positioning system (GPS) signal. As a consequence, it is necessary to use other means of navigation. A technique is presented in the paper that uses an inertial measurement unit (IMU), a speedometer, and a set of reference stations. A Kalman filter is used to fuse the measurements from the IMU, the speedometer, and the reference stations. The reference stations, with known GPS coordinates, are installed for every set interval to correct the PIG’s state estimate from the errors that accumulate due to the integration of the IMU measurements. The paper presents three scenarios. These scenarios differ in the way the update step of the Kalman filter is performed. Experimental results are presented along with a 100-run Monte Carlo test to verify the estimator’s consistency.
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June 2016
Research-Article
Pipeline Inspection Gauge Position Estimation Using Inertial Measurement Unit, Odometer, and a Set of Reference Stations
Md Sheruzzaman Chowdhury,
Md Sheruzzaman Chowdhury
Mechatronics Graduate Program,
e-mail: sheruz@gmail.com
American University of Sharjah
, P.O. Box 26666, Sharjah
, United Arab Emirates
e-mail: sheruz@gmail.com
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Mamoun F. Abdel-Hafez
e-mail: mabdelhafez@aus.edu
Mamoun F. Abdel-Hafez
American University of Sharjah
, P.O. Box 26666, Sharjah
, United Arab Emirates
e-mail: mabdelhafez@aus.edu
Search for other works by this author on:
Md Sheruzzaman Chowdhury
Mechatronics Graduate Program,
e-mail: sheruz@gmail.com
American University of Sharjah
, P.O. Box 26666, Sharjah
, United Arab Emirates
e-mail: sheruz@gmail.com
Mamoun F. Abdel-Hafez
American University of Sharjah
, P.O. Box 26666, Sharjah
, United Arab Emirates
e-mail: mabdelhafez@aus.edu
Manuscript received January 2, 2015; final manuscript received June 1, 2015; published online January 4, 2016. Assoc. Editor: Athanasios Pantelous.
ASME J. Risk Uncertainty Part B. Jun 2016, 2(2): 021001 (10 pages)
Published Online: January 4, 2016
Article history
Received:
January 2, 2015
Revision Received:
June 1, 2015
Accepted:
June 30, 2015
Citation
Chowdhury, M. S., and Abdel-Hafez, M. F. (January 4, 2016). "Pipeline Inspection Gauge Position Estimation Using Inertial Measurement Unit, Odometer, and a Set of Reference Stations." ASME. ASME J. Risk Uncertainty Part B. June 2016; 2(2): 021001. https://doi.org/10.1115/1.4030945
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