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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

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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
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/US2005/027240
Other languages
French (fr)
Other versions
WO2006015310A2 (en
Inventor
James W Waite
Ruwan Welaratna
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Metrotech Corp Inc
Original Assignee
Metrotech Corp Inc
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 filed Critical Metrotech Corp Inc
Publication of WO2006015310A2 publication Critical patent/WO2006015310A2/en
Publication of WO2006015310A3 publication Critical patent/WO2006015310A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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

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  • 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)
  • Geophysics And Detection Of Objects (AREA)
  • Navigation (AREA)
  • Gyroscopes (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 Ceased 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 2004-11-23
US10/997,729 US7113124B2 (en) 2003-11-25 2004-11-23 Centerline and depth locating method for non-metallic buried utility lines

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 Ceased 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 (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7640105B2 (en) 2007-03-13 2009-12-29 Certus View Technologies, LLC Marking system and method with location and/or time tracking
US7834801B2 (en) 2003-11-25 2010-11-16 Metrotech Corporation, Inc. Sensor fusion for model-based detection in pipe and cable locator systems
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
DE102006018130A1 (en) * 2006-04-19 2007-10-25 Hagenuk KMT Kabelmeßtechnik GmbH Device for determining a laying depth of metallic lines
US8478523B2 (en) 2007-03-13 2013-07-02 Certusview Technologies, Llc Marking apparatus and methods for creating an electronic record of marking apparatus operations
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
US8476906B2 (en) 2008-10-02 2013-07-02 Certusview Technologies, Llc Methods and apparatus for generating electronic records of locate operations
CA2897462A1 (en) 2009-02-11 2010-05-04 Certusview Technologies, Llc Management system, and associated methods and apparatus, for providing automatic assessment 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
USD634657S1 (en) 2010-03-01 2011-03-22 Certusview Technologies, Llc Paint holder of a marking device
USD634655S1 (en) 2010-03-01 2011-03-22 Certusview Technologies, Llc Handle of a marking device
USD634656S1 (en) 2010-03-01 2011-03-22 Certusview Technologies, Llc Shaft of a marking device
USD643321S1 (en) 2010-03-01 2011-08-16 Certusview Technologies, Llc 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
CN116299657B (en) * 2023-03-17 2025-10-28 四川幔壳科技有限公司 An underground pipeline positioning system based on active source HV detection method
CN119533492B (en) * 2025-01-22 2025-03-25 北京大学 Multi-sensor collaborative positioning system and method for underground gas pipeline positioning robot

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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 (6)

* 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
US7640105B2 (en) 2007-03-13 2009-12-29 Certus View Technologies, LLC Marking system and method with location and/or time tracking
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

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