METHOD FOR TRACKING PATH POSITION OF PIPE BY USING MAPPING PROBE DEVICE

摘要

A method for tracking a path position of a pipe by using a mapping probe device of the present invention comprises the steps of: inserting a mapping probe device into a water supply and drainage pipe and moving the same; receiving, by a control unit provided in the mapping probe device, acceleration information and angular speed information in real time from an acceleration sensor and a gyro-sensor while using a pipe by having, as an initial value, origin point coordinates (considering a starting point of a pipe an origin point) such that the acceleration information and the angular speed information are stored in a memory unit; calculating, by the control unit, Euler angles (roll, pitch) by using the acceleration information and gravity acceleration information; calculating, by the control unit, Euler angles (roll, pitch, yaw) by using the angular speed information; calculating, by the control unit, system modeling by using Euler angle information and a Kalman filter; applying, by the control unit, covariance of system noise and covariance of measurement noise so as to determine the ratio of system noise and measurement value noise in the system modeling; calculating, by the control unit, three-dimensional position information modeling by using the system model, the system noise covariance, and the measurement noise covariance; receiving, by the control unit, moving distance information of the mapping probe device from an encoder provided in the mapping probe device such that the moving distance information is stored in the memory unit; calculating, by the control unit, three-dimensional position information of the mapping probe device in real time by using the three-dimensional position information model and the real-time moving distance information of the mapping device, such that the three-dimensional position information is stored in the memory unit; receiving, by a server, the real-time three-dimensional position information, of the mapping probe device, stored in the memory unit; mapping, by the server in which geographic information is stored, the geographic information to the accumulated real-time three-dimensional position information of the mapping probe device; and displaying, through a display unit of the server, the accumulated position information of the mapping probe device mapped to the geographic information.