Su boru hatlarında sızıntı konum tespiti için genişletilmiş kalman filtresi tabanlı IMU sensör füzyonu uygulaması

Yıl 2017, Cilt: 32 Sayı: 4, 1393 - 1404, 08.12.2017

Abdullah Erhan Akkaya , Muhammed Fatih Talu

https://doi.org/10.17341/gazimmfd.369872

Cited By: 3

Öz

Su
dağıtım şebekelerinde, borulardaki çatlaklar ve arızalardan dolayı ciddi
miktarda su kaybı yaşanmaktadır. Bu arızaların kısa zamanda tespit edilerek
onarılması, su ve buna bağlı oluşan gelir kaybının önlenmesi için oldukça
önemlidir. Dağıtım şebekelerinde yüksek maliyete sahip genel onarım işlemleri
yerine, arızanın kesin konumunun bulunup sadece o bölgede çalışma yapılması
onarım maliyetlerini azaltacaktır. Her ne kadar yüzeysel boru dinleme cihazları
bu ihtiyaca bir çözüm olarak görünse de, dış ortam seslerinden etkilenmesi bu
yöntemin verimliliğini düşürdüğünden tercih edilmemesine neden olmaktadır.
Ticari olarak piyasada mevcut olan modern GPS temelli sistemler, büyük çaplı su
borularında çalışabilir (≥6 inch) ve yüksek maliyetlere sahiptir. Bu çalışmada
daha küçük çaplı borularda ve GPS sistemine ihtiyaç duymadan çalışabilecek bir
sızıntı tespit robotu prototipinin ön çalışması sunulmuştur. Bu ön çalışmada,
boru içerisinde suyun itme kuvvetiyle hareket edecek robotun tasarımı, üretimi,
konum ve sızıntı tahmin yazılımları gerçekleştirilmiştir. Konum tahmini, 9-dof
IMU sensör (3D-ivme, 3D-jiroskop ve 3d-manyetometre) verilerinin Genişletilmiş
Kalman Filtresi içerisinde kullanımıyla yapılmaktadır. Sızıntı tahmini, anlık
kaydedilen ses verisindeki tepe noktalara karşılık gelen konumun tespitini
içermektedir. Yapılan deneysel çalışmalarda, toplam 118m gezintide sonucunda
sızıntı konumu tahmin hatasının yaklaşık 0,25m olduğu görülmüştür.

Anahtar Kelimeler

Sızıntı tespiti, sensör füzyonu, Genişletilmiş Kalman Filtresi, kuaterniyon, su boru hatları

Kaynakça

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