Pipeline Robot Localization Technique Based on CSP and N Order K-NN Algorithm

Magnetic field distribution of low frequency electromagnetic wave in even medium is analyzed,which is related to the medium's dielectric coefficient and magnetic inductive capacity.According to the localization requirement of the pipeline robot for a pipeline inspection project,a localization model based on tri-sensors is established.In order to reduce the effect of dielectric coefficient and magnetic inductive capacity on pipeline robot's localization,an N order K nearest neighbor(K-NN) electromagnetic wave localization algorithm is presented.Experimental results show that the correct sort percentage of the algorithm can reach 97.5% and the location precision can reach ±10 cm.The low frequency electromagnetic wave transmit antenna's location can be calculated effectively by the algorithm when the medium's dielectric coefficient and magnetic inductive capacity is uncertain.