Inertial navigation system (INS) aided by odometer can achieve ideal accuracy in pipeline surveying, and hence is widely used. However, because of mechanical manufacturing errors, there are installation angle errors between INS and odometer as well as the odometer scale factor error, which will decrease the system position accuracy. To achieve high accuracy, these errors need be calibrated periodically. In this paper, a pre-calibration method based on similarity principle is proposed, which is used for odometer installation error and scale factor calibration in pipeline probe autonomous navigation system. The proposed method has no special requirements for the number of landmarks. The effectiveness of the proposed method is verified by the simulation and filed test. The field pipeline test shows that the position accuracy of the integrated navigation system is less than 0.5%D, which satisfies the application of long-distance horizontal position in pipeline surveying.
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