Sensor fusion for model-based detection in pipe and cable locator systems
First Claim
1. An underground pipe and cable locator system, comprising:
- one or more field sensors to detect a field from an underground pipe or cable;
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 real-time position and field values of the underground pipe or cable relative to the locator system, wherein the real-time position includes a centerline location and a depth of the underground pipe or cable.
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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
55 Claims
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1. An underground pipe and cable locator system, comprising:
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one or more field sensors to detect a field from an underground pipe or cable; 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 real-time position and field values of the underground pipe or cable relative to the locator system, wherein the real-time position includes a centerline location and a depth of the underground pipe or cable. - 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 pipe or cable, 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 real-time location of the underground pipe or cable relative to a locator, wherein the real-time position includes a centerline location and a depth of the underground pipe or cable. - View Dependent Claims (27, 28, 29, 30, 31, 32, 33)
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34. An underground pipe and cable locator, comprising:
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means for receiving one or more field values from an underground pipe or cable; 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 to provide real-time position and field values of the underground pipe or cable relative to the locator, wherein the real-time position includes a centerline location and a depth of the underground pipe or cable. - View Dependent Claims (35, 36, 37)
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38. An underground pipe and cable locator system, comprising:
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one or more electromagnetic field sensors to detect an electromagnetic field from the underground pipe or cable and from which field parameters are determined; one or more inertial positioning sensors from which position data is determined; and a filter that utilizes a state vector that includes position data, field parameters, and inertial sensor bias data, and wherein a real-time position of the underground pipe or cable relative to the locator system is determined from the state vector, and wherein the real-time position includes a centerline location and a depth of the underground pipe or cable. - View Dependent Claims (39, 40, 41, 42, 43, 44, 45, 46)
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47. A method of locating an underground cable or pipe, comprising:
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receiving electromagnetic signals from one or more electromagnetic field sensors that detect an electromagnetic field from the underground pipe or cable; determining field parameters from the electromagnetic signals; receiving inertial signals from one or more inertial positioning sensors; determining position data from the inertial signals; and filtering, utilizing a state vector that includes position data, field parameters, and inertial sensor bias data, to determine a real-time position of the underground pipe or cable relative to the locator system, and wherein the real-time position includes a centerline location and a depth of the underground pipe or cable. - View Dependent Claims (48, 49, 50, 51, 52, 53, 54, 55)
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Specification