Study of pipeline Robot's localization technology based on ultra-low frequency electromagnetic wave

Aimed at the various problems existing in the process of pipeline transportation for seabed petroleum, many kinds of pipeline robots are used in the pipe's scheduled detection and maintenance. This paper mainly presents an effective tracing and localization technology for robots inside pipe based on ultra-low frequency electromagnetic wave. Magnetic dipole transmitting model and double-peak & single valley localization model are built. This method can solve the weakness in traditional technique, for example, harmful radiation, finite energy, signal shielding and cable winding etc. The localization accuracy and error are also analyzed in the paper. At last, this technique is verified by practical application.