Helicopter-borne laser autonomous positioning of buried pipeline

LIU Hai-fang; WANG Rui; ZHONG Shi-sheng; LIU Ke-qiang

doi:10.3788/OPE.20111908.1723

您当前的位置：

首页 >

文章列表页 >

Helicopter-borne laser autonomous positioning of buried pipeline

Modern applied optics | 更新时间：2020-08-12

- Helicopter-borne laser autonomous positioning of buried pipeline
- Optics and Precision Engineering Vol. 19, Issue 8, Pages: 1723-1729(2011)
- 作者机构：
  
  1. 哈尔滨工业大学机电工程学院,黑龙江哈尔滨 150001
  2. 哈尔滨工业大学(威海) 船舶学院,山东威海,264209
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20111908.1723
  CLC： TN249;V243.5
- Received：13 December 2010，
  
  Revised：15 January 2011，
  
  Published Online：25 August 2011，
  
  Published：25 August 2011
- 稿件说明：
移动端阅览
刘海芳, 王瑞, 钟诗胜, 刘克强. 机载激光对埋地管道的自主定位[J]. 光学精密工程, 2011,19(8): 1723-1729

LIU Hai-fang, WANG Rui, ZHONG Shi-sheng, LIU Ke-qiang. Helicopter-borne laser autonomous positioning of buried pipeline[J]. Editorial Office of Optics and Precision Engineering, 2011,19(8): 1723-1729
刘海芳, 王瑞, 钟诗胜, 刘克强. 机载激光对埋地管道的自主定位[J]. 光学精密工程, 2011,19(8): 1723-1729 DOI： 10.3788/OPE.20111908.1723.

LIU Hai-fang, WANG Rui, ZHONG Shi-sheng, LIU Ke-qiang. Helicopter-borne laser autonomous positioning of buried pipeline[J]. Editorial Office of Optics and Precision Engineering, 2011,19(8): 1723-1729 DOI： 10.3788/OPE.20111908.1723.

摘要

为实现用机载激光对埋地天然气管道泄漏进行遥感检测

提出了机载激光自主定位管道的定位测量方法

利用机载GPS和惯性姿态测量系统得到载机的位置和姿态

结合已知的埋地管道地理位置信息

采用解析几何中的点法式求出激光对管道的自主定位点;然后利用坐标转换求出激光束在载机坐标系中的方位角和俯仰角

通过机械机构驱动激光完成对管道的引导定位。利用自行研制的激光夹持对准机构进行了地面定点实验

结果显示

地面定位最大误差为8.4 m

平均定位误差＜6.9 m;若进一步提高载机姿态、位置传感器精度及执行机构精度

激光对管道的引导定位误差会更小。结果表明本文所阐述的激光对埋地管道自主定位算法可用于机载激光对埋地天然气管道的遥感检测。

Abstract

To realize the remote detection of the leak of a buried natural gas pipeline by an airborne laser

a helicopter-borne laser autonomous positioning method for the buried natural gas pipeline was presented. Based on the position and attitude of the carrier aircraft obtained by an airborne GPS and an inertial attitude measurement system

the laser autonomous positioning point of the pipeline was obtained based on the known location information and by the space vector method. Furthermore

the azimuth and pitch angles of the airborne laser were solved through the coordinate transformation. Finally

driven by the mechanism

the laser-guiding positioning of the pipeline was fulfilled. With application of the laser clamping alignment mechanism independently developed by ourselves

the ground point-fixed experiment proves that the proposed algorithm can offer the accuracy of the ground positioning by 6.9 m

and it will be more accurate when the precision of the carrier aircraft attitude and the position sensor is further improved. Experiments demonstrate that the algorithm is suitable for the remote detection of the buried natural gas pipeline by airborne lasers.

关键词

Keywords

references

WANG M,ZHANG Y J,LIU J G.Applications of a tunable diode laser absorption spectrometer in monitoring greenhouse gases [J].Chinese Optics Letters,2006(6):1007-1100.[2] 陈东,刘文清,张玉钧. 开放光程TDLAS系统对北京城区NH3浓度的连续检测[J]. 光学技术,2007(3):310-314. CHEN D, LIU W Q, ZHANG Y J. Successive measurement of atmospheric ammonia in urba area of Beijing using open_path TDLAS system [J].Optical Technique, 2007(3):310-314. (in Chinese)[3] 李瑰贤.空间几何建模及工程应用[M]. 北京:高等教育出版社,2007. LI G X.Spatial Geometry Modeling and Its Application in Engineering[M]. Beijing: High Education Press,2007.(in Chinese)[4] 刘晶红,孙辉. 航空光电成像平台的目标自主定位[J]. 光学精密工程,2007,15(8):1305-1310. LIU J H, SUN H. Target self-determination orientation based on aerial photoelec-tric platform [J].Opt. precision Eng., 2007, 15(8):1305-1310.(in Chinese)[5] 张葆,姚俊峰,高利民. 机载GPS测量定位技术研究[J]. 光学精密工程,2009,17(2):172-178. ZHANG B,YAO J F,GAO L M. Measuring orientation technology based on airborne GPS[J].Opt. Precision Eng., 2009,17(2):172-178.(in Chinese)[6] 王家骐,金光,颜昌翔. 机载光电跟踪测量设备的目标定位误差分析[J]. 光学精密工程,2005,13(2):105-116. WANG J Q, JIN G, YAN CH X. Orientation erroranalysis of airborne opto-electric tracking and meas-ureing device[J].Opt. Precision Eng., 2005,13(2):105-116.(in Chinese)[7] 毛英泰.误差理论与精度分析[M]. 北京:国防工业出版社,1982. MAO Y T.Theory of Error and Precision and Analysis[M]. Beijing: National Defense Industry Press,1982.(in Chinese)[8] 朱军. 机载GPS的技术现状和发展[J]. 铁路计算机应用,2003,12(2):34-38. ZHU J.Technology of GPS for aerial triangulation and its present situation[J].Railway Computer Application,2003,12(2):34-38.(in Chinese)[9] 杨金显,袁赣南. 基于MIMU/GPS的组合导航设计及实验[J]. 光学精密工程,2008,16(2):283-294. YANG J X,YUAN G N.Design and experiment for INS based on MIMU/GPS [J].Opt. Precision Eng., 2008,16(2):283-294. (in Chinese)[10] 朱本仁.蒙特卡洛方法引论[M]. 济南:山东大学出版社,2006. ZHU B R. Introduce of Mont Carlo Method [M].Ji-nan: Shandong University Press,2006.(in Chinese)

Views

908

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

An optimization method for selecting common points considering position distribution and measuring precision in coordinate transformation

High precision limb height calculation of ultraviolet forward spectrometer of TianGong-2

Simulation system of high accuracy star images based on star sensor

Transferrable arithmetic of position-disturbing value for vehicular dynamic platform

Target self-determination orientation based on aerial photoelectric imaging platform

Related Author

HE Hua

LI Zongchun

LIU Zhonghe

Sheng-yang LI

Zhi-wen LIU

LU Yan

GAO Kun

ZHUANG You-wen

Related Institution

Institute of Geospatial Information， Information Engineering University

Key Laboratory of Space Utilization, Technology and Engineering Center for space Utilization, Chinese Academy of Sciences

School of Optics and Electronics, Beijing Institute of Technology

Key Laboratory of Photoelectronic Imaging Technology and System of the Ministry of Education, Beijing Institute of Technology

中国科学院长春光学精密机械与物理研究所

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰