Fast Inspect And Locate UKF Pipeline Leakage Based on Maximum Likelihood Criterion

To improve the robustness of acoustic variance uncertainty from non-linear system of oil pipeline, a self-adoption UKF calculation based on Maximum Likelihood Criterion is proposed. From this calculation, firstly, use posterior probability density distribution of statistical information quantity and side vector from innovation vector; then get online estimated acoustic variance value through Maximum Likelihood Criterion, and feed back to UKF filtration process, to adjust Kaman filter gain matrix. The proposed calculation can reduce the influence of filtering solution caused by uncertainty of acoustic variance, it solve the UKF defect.