Sensor fusion for model-based detection in pipe and cable locator systems
First Claim
1. A line locator system, comprising:
- one or more field sensors to detect a field from an underground line;
one or more inertial positioning sensors; and
a filter that fuses signals from the one or more field sensors and the one or more inertial positioning sensors to provide position and field values.
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Accused Products
Abstract
Line locator systems that fuse traditional sensors used in a combined pipe and cable locator (electromagnetic coils, magnetometers, and ground penetrating radar antennas) with low cost inertial sensors (accelerometers, gyroscopes) in a model-based approach are presented. Such systems can utilize inexpensive MEMS sensors for inertial navigation. A pseudo-inertial frame is defined that uses the centerline of the tracked utility, or an aboveground fixed object as the navigational reference. An inertial sensor correction mechanism that limits the tracking errors over time when the model is implemented in state-space form using, for example, the Extended Kalman Filter (EKF) is disclosed.
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Citations
37 Claims
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1. A line locator system, comprising:
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one or more field sensors to detect a field from an underground line;
one or more inertial positioning sensors; and
a filter that fuses signals from the one or more field sensors and the one or more inertial positioning sensors to provide position and field values. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
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26. A method of locating an underground line, comprising:
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measuring one or more field values;
measuring one or more inertial navigation values; and
fusing the one or more field values with the one or more inertial navigation values to obtain accurate values for the location of the underground line. - View Dependent Claims (27, 28, 29, 30, 31, 32, 33)
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34. A line locator, comprising:
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means for receiving one or more field values from an underground line;
means for receiving one or more inertial position values; and
means for fusing the one or more field values with the one or more inertial position values. - View Dependent Claims (35, 36, 37)
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Specification