Global localization of in-pipe robot based on ultra-long wave antenna array and global position system

A global localization system of in-pipe robot is introduced in this paper. Global position system (GPS) is applied to monitor the motion of robot along the whole pipeline which is equally divided into many segments by tracking stations. The definite segment in which robot existing can be detected and this is long-range localization. Ultra-long wave (ULW) is adopted to solve the problem of metallic shielding and realize effective communication between inside and outside of pipeline. ULW emitter is carried by robot. When the plant is broken or defects on pipe-wall are inspected, the robot will stop moving. Antenna array is presented and disposed upon the definite segment to search the accurate location of robot, and this is short-range localization. In this paper, five-antenna array is adopted and an effective linear signal fusion algorithm is presented. The localization precision reaches R < 25 cm. By tests in Shengli oil field, the whole system is verified with robust solutions.