Abstract
Aiming at the large dimensions of state vector and attitude angle periodical change of SINS in initial alignment, The alignment algorithm was presented in initial alignment of pipeline inspect gauge system (PIGs) for pipeline fault location and geometry measurement. The state and observation equation with the attitude angle, the position of the reference point and the velocity as observed vectors is established. Combined with the UKF algorithm, variable scale UKF algorithm (SUKF) is proposed to realize the initial alignment during the pipelines detector working. Comparing with UKF, experiment results showed that the steady-state misalignment of pitch, yaw and roll were 17.5’, 6’and 5’. The results indicate that the proposed algorithm is effective for practical applications.
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