{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,6]],"date-time":"2026-10-06T01:56:51Z","timestamp":1791251811748,"version":"4.1.0"},"reference-count":33,"publisher":"MDPI AG","issue":"18","license":[{"start":{"date-parts":[[2024,9,12]],"date-time":"2024-09-12T00:00:00Z","timestamp":1726099200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U22A20184"],"award-info":[{"award-number":["U22A20184"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["41902320"],"award-info":[{"award-number":["41902320"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The pipe jacking guidance system based on a fiber optic gyroscope (FOG) has gained extensive attention due to its high degree of safety and autonomy. However, all inertial guidance systems have accumulative errors over time. The zero-velocity update (ZUPT) algorithm is an effective error compensation method, but accurately distinguishing between moving and stationary states in slow pipe jacking operations is a major challenge. To address this challenge, a \u201cMV + ARE + SHOE\u201d three-conditional zero-velocity detection (TCZVD) algorithm for the fiber optic gyroscope inertial navigation system (FOG-INS) is designed. Firstly, a Kalman filter model based on ZUPT is established. Secondly, the TCZVD algorithm, which combines the moving variance of acceleration (MV), angular rate energy (ARE), and stance hypothesis optimal estimation (SHOE), is proposed. Finally, experiments are conducted, and the results indicate that the proposed algorithm achieves a zero-velocity detection accuracy of 99.18% and can reduce positioning error to less than 2% of the total distance. Furthermore, the applicability of the proposed algorithm in the practical working environment is confirmed through on-site experiments. The results demonstrate that this method can effectively suppress the accumulated error of the inertial guidance system and improve the positioning accuracy of pipe jacking. It provides a robust and reliable solution for practical engineering challenges. Therefore, this study will contribute to the development of pipe jacking automatic guidance technology.<\/jats:p>","DOI":"10.3390\/s24185911","type":"journal-article","created":{"date-parts":[[2024,9,12]],"date-time":"2024-09-12T05:03:04Z","timestamp":1726117384000},"page":"5911","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["The Zero-Velocity Correction Method for Pipe Jacking Automatic Guidance System Based on Fiber Optic Gyroscope"],"prefix":"10.3390","volume":"24","author":[{"given":"Wenbo","family":"Zhang","sequence":"first","affiliation":[{"name":"School of Engineering and Technology, China University of Geosciences, Beijing 100083, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6702-5665","authenticated-orcid":false,"given":"Lu","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Engineering and Technology, China University of Geosciences, Beijing 100083, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yutong","family":"Zu","sequence":"additional","affiliation":[{"name":"School of Engineering and Technology, China University of Geosciences, Beijing 100083, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,9,12]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"5","DOI":"10.1002\/rvr2.36","article-title":"A coordinated drainage and regulation model of urban water systems in China: A case study in Fuzhou city","volume":"2","author":"Wang","year":"2023","journal-title":"River"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"104723","DOI":"10.1016\/j.tust.2022.104723","article-title":"Application of optimal experiment design method to detect the ideal sensor positions: A case study of Milan metro line 5","volume":"130","author":"Schoen","year":"2022","journal-title":"Tunneling Undergr. 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