Sensors Data Fusion to Navigate Inside Pipe Using Kalman Filter

被引：0

作者：

Siqueira, Everson ^{[1
]}

Azzolin, Rodrigo ^{[1
]}

Botelho, Silvia ^{[1
]}

Oliveira, Vinicius ^{[1
]}

机构：

[1] Univ Fed Rio Grande FURG, Av Itlia Km 8 Bairro Carreiros, Rio Grande, RS, Brazil

来源：

2016 IEEE 21ST INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION (ETFA) | 2016年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Pipelines have been used to convey products such as oil, gas, chemicals and water. It means that problems with pipelines would indicate money waste and environment damages. To avoid those problems, inspections are realised periodically. The technology improvement has made possible employing robots and mobile platforms to inspect pipes. The focus of this work is to implement a strategy to acquire the pose of robot or platform inside pipe. The method consists in the use of a technique to fuse information from a low cost IMU and encoder. Simulations are realised using Matlab software.

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页数：5

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