A Standards-based Pipeline Route Drawing System using a Towed Sensing Unit
Atsushi Kakogawa,Chihiro Hirose,Shugen Ma,Atsushi Kakogawa,Chihiro Hirose,Shugen Ma
This paper presents a method of drawing pipeline routes using a sensing unit with a rotary encoder and IMU (Inertial Measurement Unit), which is towed by a self-propelled in-pipe inspection robot. However, the IMU information generally contains integration errors, making it difficult to draw accurate pipeline routes. In this study, we propose a method combining gradient descent using a gyroscopic ...
