Enhancing drainage pipeline inspection: advanced integration of six-axis sensor fusion and extended Kalman filter.

Urban water environment pollution is a pressing global concern, particularly in developing countries where inadequate infrastructure contributes significantly to this challenge. This study builds upon these principles by enhancing drainage pipeline inspection technologies, aiming to streamline processes and reduce resource consumption. This research advances the integration of gyroscopes and accelerometers within a sextuple-axis sensor framework, streamlining a workflow wherein the inspection apparatus is introduced into the conduit and navigates with the fluid motion to aggregate data. The implementation of an attitude determination algorithm rooted in the extended Kalman filter underpins the processing of sensor-acquired data, yielding precise tridimensional attitude measures. Additionally, a refined peak-to-peak anomaly detection technique, based on an adaptive peak algorithm, analyzes the attitude measures to pinpoint deviations in the device's orientation. Empirical evaluations corroborate that the second-generation pipeline inspection device conceived in this study boasts augmented stability and transit efficacy. The integrated approach for attitude calculation and anomaly discernment coalesces data from gyroscopes and accelerometers, guaranteeing meticulous orientation angle computation and enhanced precision in anomaly detection. This accuracy is vital for the accurate replication of the detector's positioning within the pipeline infrastructure and for a comprehensive understanding of the operational state of drainage conduits.