中文摘要：

分析了管道机器人定位系统的工作原理，研究了超长波发射器的电磁场分布，建立了参数化的数学模型．采用对称分布的超长波信号接收天线阵．提出了非线性和线性两种定位算法，实现了地下或水下未知管道内机器人的空间定位．通过工业现场实验，验证了定位系统与定位算法的有效性；其平面定位误差小于15cm，满足管道作业、管道检测等工程任务的需求．

英文摘要：

Working principle of the localization system for pipeline robot is analyzed in this paper. Electromagnetic field distribution of the ultra-long wave emitter is studied and a parameterized mathematic model is established. Symmetrically distributed antenna array is adopted as the signal receiving equipment for ultra-long wave. Both nonlinear and linear localization algorithms are presented to realize spatial localization of the pipeline robot crawling in unknown underground or underwater pipelines. Industrial field tests verify that both the localization system and the algorithms are efficient, and with the plane localization precision less than 15 cm, they are able to meet the demands of engineering tasks such as pipeline operation and inspection.