WO2006015310A3 - Sensor fusion for model-based detection in pipe and cable locator systems - Google Patents

Sensor fusion for model-based detection in pipe and cable locator systems Download PDF

Info

Publication number
WO2006015310A3
WO2006015310A3 PCT/US2005/027240 US2005027240W WO2006015310A3 WO 2006015310 A3 WO2006015310 A3 WO 2006015310A3 US 2005027240 W US2005027240 W US 2005027240W WO 2006015310 A3 WO2006015310 A3 WO 2006015310A3
Authority
WO
WIPO (PCT)
Prior art keywords
model
inertial
systems
pipe
sensors
Prior art date
Application number
PCT/US2005/027240
Other languages
French (fr)
Other versions
WO2006015310A2 (en
Inventor
James W Waite
Ruwan Welaratna
Original Assignee
Metrotech Corp Inc
James W Waite
Ruwan Welaratna
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US10/997,729 external-priority patent/US7113124B2/en
Application filed by Metrotech Corp Inc, James W Waite, Ruwan Welaratna filed Critical Metrotech Corp Inc
Publication of WO2006015310A2 publication Critical patent/WO2006015310A2/en
Publication of WO2006015310A3 publication Critical patent/WO2006015310A3/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/12—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with electromagnetic waves

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Geology (AREA)
  • Environmental & Geological Engineering (AREA)
  • Electromagnetism (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Geophysics (AREA)
  • Navigation (AREA)
  • Gyroscopes (AREA)
  • Geophysics And Detection Of Objects (AREA)

Abstract

Line locator systems that fuse traditional sensors used in a combined pipe and cable locator (electromagnetic coils, magnetometers, and ground penetrating radar antennas) with low cost inertial sensors (accelerometers, gyroscopes) in a model-based approach are presented. Such systems can utilize inexpensive MEMS sensors for inertial navigation. A pseudo-inertial frame is defined that uses the centerline of the tracked utility, or an aboveground fixed object as the navigational reference. An inertial sensor correction mechanism that limits the tracking errors over time when the model is implemented in state-space form using, for example, the Extended Kalman Filter (EKF) is disclosed.
PCT/US2005/027240 2004-07-29 2005-07-29 Sensor fusion for model-based detection in pipe and cable locator systems WO2006015310A2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US59283504P 2004-07-29 2004-07-29
US60/592,835 2004-07-29
US10/997,729 US7113124B2 (en) 2003-11-25 2004-11-23 Centerline and depth locating method for non-metallic buried utility lines
US10/997,729 2004-11-23

Publications (2)

Publication Number Publication Date
WO2006015310A2 WO2006015310A2 (en) 2006-02-09
WO2006015310A3 true WO2006015310A3 (en) 2006-04-20

Family

ID=35787899

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2005/027240 WO2006015310A2 (en) 2004-07-29 2005-07-29 Sensor fusion for model-based detection in pipe and cable locator systems

Country Status (1)

Country Link
WO (1) WO2006015310A2 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8060304B2 (en) 2007-04-04 2011-11-15 Certusview Technologies, Llc Marking system and method
US8473209B2 (en) 2007-03-13 2013-06-25 Certusview Technologies, Llc Marking apparatus and marking methods using marking dispenser with machine-readable ID mechanism
US9542863B2 (en) 2008-10-02 2017-01-10 Certusview Technologies, Llc Methods and apparatus for generating output data streams relating to underground utility marking operations

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7834801B2 (en) 2003-11-25 2010-11-16 Metrotech Corporation, Inc. Sensor fusion for model-based detection in pipe and cable locator systems
DE102006018130A1 (en) * 2006-04-19 2007-10-25 Hagenuk KMT Kabelmeßtechnik GmbH Device for determining a laying depth of metallic lines
US7640105B2 (en) 2007-03-13 2009-12-29 Certus View Technologies, LLC Marking system and method with location and/or time tracking
US9086277B2 (en) 2007-03-13 2015-07-21 Certusview Technologies, Llc Electronically controlled marking apparatus and methods
US8965700B2 (en) 2008-10-02 2015-02-24 Certusview Technologies, Llc Methods and apparatus for generating an electronic record of environmental landmarks based on marking device actuations
US8442766B2 (en) 2008-10-02 2013-05-14 Certusview Technologies, Llc Marking apparatus having enhanced features for underground facility marking operations, and associated methods and systems
WO2010039242A2 (en) 2008-10-02 2010-04-08 Certusview Technologies, Llc Methods and apparatus for generating electronic records of locate operations
CA2691780C (en) 2009-02-11 2015-09-22 Certusview Technologies, Llc Management system, and associated methods and apparatus, for providing automatic assesment of a locate operation
WO2011022102A1 (en) 2009-08-20 2011-02-24 Certusview Technologies, Llc Methods and marking devices with mechanisms for indicating and/or detecting marking material color
USD643321S1 (en) 2010-03-01 2011-08-16 Certusview Technologies, Llc Marking device
USD634655S1 (en) 2010-03-01 2011-03-22 Certusview Technologies, Llc Handle of a marking device
USD634657S1 (en) 2010-03-01 2011-03-22 Certusview Technologies, Llc Paint holder of a marking device
USD634656S1 (en) 2010-03-01 2011-03-22 Certusview Technologies, Llc Shaft of a marking device
DE102011079258A1 (en) * 2011-07-15 2013-01-17 Hilti Aktiengesellschaft Method and device for detecting an object in a ground
US9733379B2 (en) 2014-06-19 2017-08-15 Metrotech Corporation Line locator with a metal detector
CN108303745A (en) * 2018-03-19 2018-07-20 贵州电网有限责任公司 A kind of inversion method of the buried cable detection based on electromagnetic wave saturating ground technology

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4942360A (en) * 1986-09-08 1990-07-17 Candy Bruce H A method and apparatus of discrimination detection using multiple frequencies to determine a recognizable profile of an undesirable substance
US5025227A (en) * 1988-10-11 1991-06-18 William Young Metal detection circuit
US5260659A (en) * 1989-02-13 1993-11-09 Radiodetection Limited Method and apparatus for tracing conductors using an alternating signal having two components related in frequency and phase
US5321613A (en) * 1992-11-12 1994-06-14 Coleman Research Corporation Data fusion workstation
US5642050A (en) * 1995-12-21 1997-06-24 White's Electronics, Inc. Plural frequency method and system for identifying metal objects in a background environment using a target model
EP0780704A2 (en) * 1995-12-21 1997-06-25 White's Electronics, Inc. Plural frequency method and system for identifying metal objects in a background environment
US6023986A (en) * 1997-03-24 2000-02-15 Bj Services Company Magnetic flux leakage inspection tool for pipelines
RU2152059C1 (en) * 1999-05-11 2000-06-27 Саратовский государственный технический университет Device for positioning of underground pipeline trajectory
US6140819A (en) * 1998-05-26 2000-10-31 Heath Consultants, Inc. Continuous-depth-indicating underground pipe and cable locator
US6240367B1 (en) * 1998-11-27 2001-05-29 Ching-Fang Lin Full fusion positioning method for vehicle
US6310579B1 (en) * 2000-05-12 2001-10-30 Radio Frequency Systems, Inc. Method and apparatus for calibrating antenna apparatus and testing an antenna connected thereto
US20030046003A1 (en) * 2001-09-06 2003-03-06 Wdt Technologies, Inc. Accident evidence recording method
US20040070399A1 (en) * 2002-10-09 2004-04-15 Olsson Mark S. Omnidirectional sonde and line locator

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4942360A (en) * 1986-09-08 1990-07-17 Candy Bruce H A method and apparatus of discrimination detection using multiple frequencies to determine a recognizable profile of an undesirable substance
US5025227A (en) * 1988-10-11 1991-06-18 William Young Metal detection circuit
US5260659A (en) * 1989-02-13 1993-11-09 Radiodetection Limited Method and apparatus for tracing conductors using an alternating signal having two components related in frequency and phase
US5321613A (en) * 1992-11-12 1994-06-14 Coleman Research Corporation Data fusion workstation
US5642050A (en) * 1995-12-21 1997-06-24 White's Electronics, Inc. Plural frequency method and system for identifying metal objects in a background environment using a target model
EP0780704A2 (en) * 1995-12-21 1997-06-25 White's Electronics, Inc. Plural frequency method and system for identifying metal objects in a background environment
US6023986A (en) * 1997-03-24 2000-02-15 Bj Services Company Magnetic flux leakage inspection tool for pipelines
US6140819A (en) * 1998-05-26 2000-10-31 Heath Consultants, Inc. Continuous-depth-indicating underground pipe and cable locator
US6240367B1 (en) * 1998-11-27 2001-05-29 Ching-Fang Lin Full fusion positioning method for vehicle
RU2152059C1 (en) * 1999-05-11 2000-06-27 Саратовский государственный технический университет Device for positioning of underground pipeline trajectory
US6310579B1 (en) * 2000-05-12 2001-10-30 Radio Frequency Systems, Inc. Method and apparatus for calibrating antenna apparatus and testing an antenna connected thereto
US20030046003A1 (en) * 2001-09-06 2003-03-06 Wdt Technologies, Inc. Accident evidence recording method
US20040070399A1 (en) * 2002-10-09 2004-04-15 Olsson Mark S. Omnidirectional sonde and line locator

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8473209B2 (en) 2007-03-13 2013-06-25 Certusview Technologies, Llc Marking apparatus and marking methods using marking dispenser with machine-readable ID mechanism
US8060304B2 (en) 2007-04-04 2011-11-15 Certusview Technologies, Llc Marking system and method
US8386178B2 (en) 2007-04-04 2013-02-26 Certusview Technologies, Llc Marking system and method
US9542863B2 (en) 2008-10-02 2017-01-10 Certusview Technologies, Llc Methods and apparatus for generating output data streams relating to underground utility marking operations

Also Published As

Publication number Publication date
WO2006015310A2 (en) 2006-02-09

Similar Documents

Publication Publication Date Title
WO2006015310A3 (en) Sensor fusion for model-based detection in pipe and cable locator systems
CN106017461B (en) Pedestrian navigation system three-dimensional fix method based on human body/environmental constraints
CN105698787B (en) Utilize the complex navigation system and method for dead reckoning and GPS
US20220043102A1 (en) Position tracking system and method using radio signals and inertial sensing
US9285224B2 (en) System and method for gyroscope error estimation
WO2007143806A3 (en) Vehicular navigation and positioning system
WO2006102300A3 (en) Navigation systems and methods for wheeled objects
AU2007259359B2 (en) System and method for providing guidance towards a far-point position for a vehicle implementing a satellite- based guidance system
CN107014388B (en) Pedestrian trajectory calculation method and device based on magnetic interference detection
WO2004063669A3 (en) Attitude change kalman filter measurement apparatus and method
WO2008048759A3 (en) Navigation system using both gps and laser reference
KR101878685B1 (en) System and method for positioning vehicle using local dynamic map
CN101970989A (en) Device for assisting in the navigation of a person
WO2008010049A3 (en) Navigation apparatus
CA2733032C (en) Method and apparatus for improved navigation of a moving platform
WO2009091339A3 (en) A method and apparatus for automatic tracking of the sun
EP3734224A3 (en) Inertial navigation system capable of dead reckoning in vehicles
CN111006660A (en) Combined inertial navigation attitude calculation method
CN104864874A (en) Low-cost single-gyroscope dead reckoning navigation method and system
CN108151765B (en) Positioning and attitude measuring method for online real-time estimation and compensation of magnetometer error
CN104897155A (en) Personal portable auxiliary multisource locating information correcting method
CN202649469U (en) Positioning device for judging position of effective global satellite positioning system
CN109459777B (en) Robot, robot positioning method and storage medium thereof
WO2013102237A3 (en) Navigation device and method for surveying and directing a borehole under drilling conditions
US20200306909A1 (en) Orientation apparatus for drilling machinery and method for orienting a drilling element of drilling machinery

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A2

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KM KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NG NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SM SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW

AL Designated countries for regional patents

Kind code of ref document: A2

Designated state(s): BW GH GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LT LU LV MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 69(1) EPC

122 Ep: pct application non-entry in european phase

Ref document number: 05778584

Country of ref document: EP

Kind code of ref document: A2