中文摘要：

针对小口径管线测量仪对低成本、小尺寸惯性导航定位方案的迫切需求,本文设计了一种融合了MEMS惯导、管道里程计、地面标记器以及管道运动约束的组合定位方案及其导航定位算法。基于该方案,本文以一款典型MEMS惯性器件（STIM300）为例评估了其定位精度,并对里程计、运动约束以及反向平滑算法在提高定位精度方面的贡献做了定量分析。模拟实验结果表明,里程计以及运动约束是保证系统精度的必要条件,反向平滑算法能够进一步提高定位精度;MEMS方案对长度为2 km的管道测量精度可达10-3量级,能够满足小口径管道内检测定位的精度需求。

英文摘要：

MEMS-based inertial integrated algorithm for the pipeline surveying that combines updates such as pipe-line odometer,ground RFID and the motion constraint（e.g. non-holonomic constraint）is proposed in this paper to meetthe urgent demand of low-cost and small-size pipeline surveying system. STIM3000,a classical MEMS IMU,is used tovalidate the proposed solution,and the contribution to positioning accuracy improvement of odometer,motion con-straint and optimal smoothing algorithm is quantitatively analyzed. Simulation results show that 3-D position of meteraccuracy can be obtained based on the proposed algorithm even for a 2 000-m-long pipeline,which meets the position-ing accuracy requirement of the pipeline surveying. Odometer measurement and motion constraint are proved to be ef-fective updates to guarantee the above accuracy,and smoothing algorithm can make further accuracy improvement.