| As the "energy vessel" in today's world,the submarine pipeline plays an important role in marine oil and gas transportation.It is of great significance to regularly inspect and maintain the submarine pipeline.With the rapid development of offshore oil and gas exploration and development,the underwater robot industry is also booming.The use of underwater robots for submarine pipeline detection solves the security threats and environmental challenges faced by manual operations and has a high degree of automation.It will be the main technical means for future submarine pipeline safety detection.Faced with a complicated marine operating environment,underwater sea tube inspection robots have also set higher requirements for the accuracy,reliability and fault tolerance of their navigation systems.Therefore,in order to solve the practical application needs,this paper studies the data fusion,error correction,fault detection and isolation of the underwater navigation pipe detection robot integrated navigation system,and provides important technical support for subsea pipeline detection and maintenance.This article first introduces the overall design of the integrated navigation system of the submarine inspection robot,and describes the strapdown inertial navigation system(SINS),Doppler velocimeter(DVL),and ultra-short baseline positioning system(USBL),and established the corresponding error model.Based on this,the federal filtering technology is used to design the SINS / DVL / USBL integrated navigation system,the SINS / DVL integrated navigation subsystem and the SINS / USBL integrated navigation subsystem are designed and the mathematical models of each subsystem are established.Simulation experiments are performed on two subsystems and the SINS / DVL / USBL integrated navigation system.Then,in response to the needs of submarine inspection robots for high-precision navigation,a navigation error correction method based on the position assistance of subsea nodes is proposed to solve the problem of accurate positioning of long-distance submarine corrosion defect locations.Combining the direct compensation method of sea pipe node position with the dynamic zero-speed correction method to suppress the divergence of SINS navigation accumulation error.Simulation results show that the proposed method can effectively suppress the navigation error accumulation,and the positioning error reaches the cm level.Finally,in response to the fault tolerance requirements of the submarine inspection robot navigation system,an SVR-based integrated navigation system fault diagnosis method is proposed to solve the problem that the residual fault detection method can only judge system-level faults and cannot identify faulty sensors.The fault isolation and system reconstruction schemes are designed to further ensure the accuracy and reliability of the submarine inspection robot navigation system,and the effectiveness of the proposed method is verified by simulation. |
PDF Full Text Request