Su Boru Hatlarında Sızıntı Konum Tespiti İçin Genişletilmiş Kalman Filtresi Tabanlı IMU Sensör Füzyonu Uygulaması

Abdullah Erhan Akkaya, Muhammed Fatih TALU
1.206 246

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  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.

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