Sensors data fusion to navigate inside pipe using Kalman Filter

摘要

Pipelines have been used to convey products such as oil, gas, chemicals and water. It means that problems with pipelines would indicate money waste and environment damages. To avoid those problems, inspections are realised periodically. The technology improvement has made possible employing robots and mobile platforms to inspect pipes. The focus of this work is to implement a strategy to acquire the pose of robot or platform inside pipe. The method consists in the use of a technique to fuse information from a low cost IMU and encoder. Simulations are realised using Matlab software.