Geodesic
The navigation problem for a pipeline inspection system
Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 1 (2011), pp. 53-56

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A navigation algorithm for a pipeline inspection system is described. High-frequency source data received by a strapdown inertial navigation system are used as a basis for this algorithm. The reference point coordinates and the odometer readings are used as correcting measurements. Some results of experimental data processing are given. 
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     title = {The navigation problem for a pipeline inspection system},
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A. A. Panev; N. B. Vavilova. The navigation problem for a pipeline inspection system. Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 1 (2011), pp. 53-56. http://geodesic.mathdoc.fr/item/VMUMM_2011_1_a9/