Backward Smoothing for Pipeline Surveying Applications

Eun-Hwan Shin and Naser El-Sheimy

Abstract:	This paper discusses the development of a Kalman filter and smoother to automate the data processing in pipeline surveying applications. Current pipeline surveying systems use a tactical-grade IMU. With such systems, the position error can reach tens of kilometres within 10 to 20 minute of stand-alone operation. Hence, a three-axial vehicle frame velocity measurement model is used, augmenting odometer-derived velocity with two non-holonomic constraints. Tests have been conducted using a real data collected in a natural gas pipeline. Although, the trajectory errors of the filter can be over 100 m, those of the smoother are within 10-20m for extreme cases, and within 10m for most cases. RMS of the trajectory errors of the smoother is expected to be about 2.5 m.
Published in:	Proceedings of the 2005 National Technical Meeting of The Institute of Navigation January 24 - 26, 2005 The Catamaran Resort Hotel San Diego, CA
Pages:	921 - 927
Cite this article:	Shin, Eun-Hwan, El-Sheimy, Naser, "Backward Smoothing for Pipeline Surveying Applications," Proceedings of the 2005 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 2005, pp. 921-927.
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