Method of tracing position of pipeline using mapping probe
First Claim
1. A method of tracing a position of a pipeline by collecting and keeping real-time position information of a mapping probe moving through the pipeline and including a controller, a sensor unit having acceleration sensors and gyro sensors, a memory, and an encoder,the method being implemented by a processor executing instructions stored in a non-transitory computer-readable medium and comprising:
- inserting the mapping probe into the pipeline and moving the mapping probe through the pipeline;
receiving, by the controller installed on the mapping probe, acceleration information and angular speed information in real time from the acceleration sensors and the gyro sensors and keeping the acceleration and angular speed information in the memory, while moving the controller installed on the mapping probe through the pipeline when a start point in the pipeline is set as an initial value;
estimating, by the controller, Euler angle (roll and pitch) using the acceleration information and information on acceleration of gravity obtained from the acceleration sensors;
estimating, by the controller, Euler angle (roll, pitch, and yaw) using the angular information obtained from the gyro sensors;
estimating, by the controller, system modeling using the Euler angle (roll and pitch) and the Euler angle (roll, pitch, and yaw) and a Kalman filter;
estimating, by the controller, covariance of a system noise and covariance of a measured noise to determine a ratio of the system noise and the measured noise in a system, model;
estimating, by the controller, three-dimensional position information modeling using the system modeling, the covariance of the system noise, and the covariance of the measured noise;
receiving, by the controller, movement distance information of the mapping probe from the encoder installed on the mapping probe and keeping the movement distance information in the memory;
estimating, by the controller, in real time three-dimensional position information of the mapping probe using a three-dimensional position information model, the covariance of the system noise, the covariance of the measured noise, and the movement distance information of the mapping probe and keeping the three-dimensional position information in the memory;
receiving, by a server, the real-time three-dimensional position information of the mapping probe accumulated in the memory and keeping the real-time three-dimensional position information therein; and
mapping, by the server, the real-time three-dimensional position information of the mapping probe to geographic information stored in the server.
2 Assignments
0 Petitions
Accused Products
Abstract
A method of tracing a position of a pipeline using a mapping probe includes: inserting and moving the mapping probe in a pipeline; receiving and keeping acceleration information and angular information in real time in a memory; estimating Euler angle (roll and pitch); estimating Euler angle (roll, pitch, and yaw); estimating a system modeling; estimating and applying covariance of system noise and covariance of measured noise; estimating three-dimensional position information modeling; receiving and keeping movement distance information of the mapping probe from an encoder in a memory; estimating and keeping in real time three-dimensional position information of the mapping probe in the memory; receiving the accumulated real-time three-dimensional position information of the mapping probe; mapping the accumulated real-time three-dimensional position information of the mapping probe to geographic information; and displaying the accumulated position information of the mapping probe mapped to the geographic information on a display unit.
6 Citations
8 Claims
-
1. A method of tracing a position of a pipeline by collecting and keeping real-time position information of a mapping probe moving through the pipeline and including a controller, a sensor unit having acceleration sensors and gyro sensors, a memory, and an encoder,
the method being implemented by a processor executing instructions stored in a non-transitory computer-readable medium and comprising: -
inserting the mapping probe into the pipeline and moving the mapping probe through the pipeline; receiving, by the controller installed on the mapping probe, acceleration information and angular speed information in real time from the acceleration sensors and the gyro sensors and keeping the acceleration and angular speed information in the memory, while moving the controller installed on the mapping probe through the pipeline when a start point in the pipeline is set as an initial value; estimating, by the controller, Euler angle (roll and pitch) using the acceleration information and information on acceleration of gravity obtained from the acceleration sensors; estimating, by the controller, Euler angle (roll, pitch, and yaw) using the angular information obtained from the gyro sensors; estimating, by the controller, system modeling using the Euler angle (roll and pitch) and the Euler angle (roll, pitch, and yaw) and a Kalman filter; estimating, by the controller, covariance of a system noise and covariance of a measured noise to determine a ratio of the system noise and the measured noise in a system, model; estimating, by the controller, three-dimensional position information modeling using the system modeling, the covariance of the system noise, and the covariance of the measured noise; receiving, by the controller, movement distance information of the mapping probe from the encoder installed on the mapping probe and keeping the movement distance information in the memory; estimating, by the controller, in real time three-dimensional position information of the mapping probe using a three-dimensional position information model, the covariance of the system noise, the covariance of the measured noise, and the movement distance information of the mapping probe and keeping the three-dimensional position information in the memory; receiving, by a server, the real-time three-dimensional position information of the mapping probe accumulated in the memory and keeping the real-time three-dimensional position information therein; and mapping, by the server, the real-time three-dimensional position information of the mapping probe to geographic information stored in the server. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
-
8. A method of tracing a position of a pipe line by collecting and keeping real-time position information of a mapping probe moving through the pipeline and including a controller, a sensor unit having acceleration sensors and gyro sensors, a memory, and an encoder,
the method being implemented by a processor executing instructions stored in a non-transitory computer-readable medium and comprising: -
inserting the mapping probe into the pipeline and moving the, mapping probe through the pipeline; receiving, by the controller installed on the mapping probe, acceleration information and angular speed information in real, time from the acceleration sensors and the gyro sensors and keeping the acceleration and angular speed information in the memory, while moving the controller installed on the mapping probe through the pipeline when a start point in the pipeline is set as an initial value; estimating, by the controller, Euler angle (roll and pitch) using;
-
Specification