Title :
The application and analysis of H∞ filter based on SLAM in detection and location of underwater oil pipeline leakage
Author :
Dandan Wang ; Gannan Yuan ; Jingjing Lian
Author_Institution :
Sch. of Autom., Harbin Eng. Univ., Harbin, China
Abstract :
Aiming at improving the positioning accuracy of the submarine oil pipeline leak location, a new positioning algorithm SINS combined SLAM is proposed. When AUV is navigation positioning, it can realize the tracking of Submarine oil pipeline´s simultaneous localization and mapping, and use the location information of map features in the submarine oil pipeline to correct method of SINS which has more advantage and makes the system error not accumulate with time. By setting specific pipeline mathematical function, collecting its two-dimensional position information with sensors,the actual graphics was built, and processing the marked accurate leakage point from image to achieve accurate positioning purposes; Using the extended H∞ filter (EHF) to do simulation experiment on position information acquired by SINS/SLAM integrated navigation. Which show data association of noise and observation are robust to model uncertainties, and filtering accuracy reaches 0.1% of total distance. The oil pipeline leak location precision is also guaranteed, and passive navigation for underwater pipeline tracking detection is feasible.
Keywords :
H∞ filters; SLAM (robots); autonomous underwater vehicles; navigation; path planning; position control; 2D position information; AUV; H∞ filter; SINS/SLAM integrated navigation; data association; filtering accuracy; leakage point; navigation positioning; oil pipeline leak location precision; passive navigation; pipeline mathematical function; positioning algorithm SINS combined SLAM; simultaneous localization; submarine oil pipeline leak location; underwater oil pipeline leakage; underwater pipeline tracking detection; Feature extraction; Filtering algorithms; Mathematical model; Pipelines; Silicon compounds; Simultaneous localization and mapping; Sonar; H∞ Filter; Simultaneous Localization And Mapping; Strap-down Inertial Navigation System; map features;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7053343