Inertial navigation measurement method for pipeline center line

A technology of inertial navigation measurement and inertial navigation, which is applied in the field of inertial navigation measurement of the pipeline centerline to achieve the effect of saving maintenance costs and improving maintenance efficiency

Inactive Publication Date: 2014-04-02
PETROCHINA CO LTD
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  • Inertial navigation measurement method for pipeline center line
  • Inertial navigation measurement method for pipeline center line
  • Inertial navigation measurement method for pipeline center line

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[0030] Example. The inertial navigation detection locator used for measurement is composed of a mobile carrier unit, an inertial measurement unit, a mileage wheel, a data storage unit, a data download and processing unit, a speed control unit, a ground tracking and positioning unit, and a power management unit. Its process is:

[0031] After the detection starts, set parameters for the detection equipment;

[0032] Combined with GPS system to complete the initial coordinate setting;

[0033] Equipment self-test and reset;

[0034] If it is not completed, turn back to setting parameters for the detection equipment; if completed, mount the inertial navigation system on the detector or other carriers;

[0035] Detect and collect data in real time;

[0036] The detection is completed;

[0037] The GPS system calibrates the terminal position;

[0038] Download the data and perform post-processing to solve the center line data;

[0039] Error correction and complete coordinate...

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Abstract

The invention provides an inertial navigation measurement method for a pipeline center line of a buried pipeline. An inertial navigation detection positioner is adopted for measurement, and is composed of a mobile carrier unit, an inertial measurement unit, an odometer wheel, a data storage unit, a data downloading and processing unit, a speed control unit, and a ground tracking positioning and power management unit. The method comprises the procedures: firstly setting parameters of a detection device; combining with a GPS system to complete initial coordinate setting; carrying out self-inspection of the device, and returning to zero; if being not completed, going back to set the parameters of the detection device; if being completed, mounting an inertial navigation system on a detector or other carriers; detecting and carrying out real-time data acquisition; completing the detection; calibrating a terminal position by the GPS system; downloading data, carrying out post treatment, and resolving center line data; carrying out error correction, and completing drawing of coordinates; and ending. The method can accurately draw out the three-dimensional coordinates, moving directions and displacement of the pipeline center line and even pipeline deformation.

Description

technical field [0001] The invention is a test method suitable for high-precision positioning of the central line position of buried pipelines. It relates to the technical fields of pipeline displacement monitoring and safe operation of oil and gas pipelines. Background technique [0002] With the continuous development of the domestic oil and gas industry, more and more long-distance buried oil and gas pipelines are used in the transportation of oil and gas products. Due to the influence of geological disasters, etc., the pipeline will be displaced and deformed, resulting in a large bending strain in the local pipe body, which will lead to pipeline instability or material damage in severe cases. In addition to the normal internal pressure load, the pipe body at the local bending strain In addition, it also bears the additional bending stress load of the bending strain, so the existence of the bending strain of the pipeline seriously affects the structural integrity and ope...

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Application Information

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IPC IPC(8): G01C21/16G01B15/00G01B15/04G01B15/06
CPCG01C21/165G01B15/00G01B15/06
Inventor 冯庆善王学力李睿张海亮韩小明靳宏远冯文兴戴联双燕冰川李保吉项小强任重刘成海贾光明于智博沙胜义赵晓明
Owner PETROCHINA CO LTD
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