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Efficient Positioning Method for Underground Pipe Gallery Inspection Based on UWB Adaptive Fusion
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Efficient Positioning Method for Underground Pipe Gallery Inspection Based on UWB Adaptive Fusion
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Efficient Positioning Method for Underground Pipe Gallery Inspection Based on UWB Adaptive Fusion
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Journal Article
Efficient Positioning Method for Underground Pipe Gallery Inspection Based on UWB Adaptive Fusion
2025
Overview
To address the challenges of slow positioning speed and inaccurate localisation of underground pipeline corridors in complex environments using ultra‐wideband (UWB) absolute positioning, this paper proposes a Hybrid UWB‐IMU Adaptive Localisation Algorithm (HUIALA) for precise underground pipeline corridor positioning. The positioning method uses UWB as absolute positioning, IMU and odometer trajectory calculation as relative positioning (predictive positioning), and updates the observation noise by calculating the fuzzy distance to the triangle centroid to adaptively allocate weights. At the same time, dynamically adjust the intervention and exit of predicted positioning based on system operation, and filter out interference such as UWB positioning drift and absolute positioning failure. The proposed method is based on the simulation and experiment of a wheeled inspection vehicle system using UWB and inertial navigation. The experimental result shows that the proposed method maintains better response speed and high positioning accuracy during dynamic testing in simulated interference environments. The positioning speed is improved by 98.9% compared to single UWB positioning, and the positioning accuracy is improved by about 45.84% and 27.96% compared to single UWB positioning and KF fusion positioning, respectively. Aiming at the problems of slow positioning speed and inability to accurately locate underground pipeline corridors in complex environments using ultra‐wideband (UWB) absolute positioning, this paper proposes an underground pipeline corridor positioning method based on UWB adaptive fusion (AFL). The positioning method uses UWB as absolute positioning, IMU and odometer trajectory calculation as relative positioning (predictive positioning), and updates the observation noise by calculating the fuzzy distance to the triangle centroid to adaptively allocate weights. At the same time, dynamically adjust the intervention and exit of predicted positioning based on system operation, and filter out interference such as UWB positioning drift and absolute positioning failure. The proposed method is based on the simulation and experiment of a wheeled inspection vehicle system using UWB and inertial navigation. The experimental results show that the proposed method can maintain excellent response speed and high positioning accuracy under dynamic testing in simulated interference environments. The positioning speed is improved by 98.9% compared to single UWB positioning, and the positioning accuracy is improved by about 49.6% and 28.4% compared to single UWB positioning and KF fusion positioning, respectively.
