A Geographical Coordinate Compensation Method for Submarine Oil and Gas Pipeline Detection and Positioning System
A pipeline detection system and positioning system technology, which is applied in the detection and positioning field of submarine oil and gas pipelines, can solve the problems of inability to realize high-precision positioning of long-distance oil and gas pipelines, achieve the effects of reducing positioning errors, reducing system positioning errors, and realizing accurate compensation
Active Publication Date: 2017-07-11
HARBIN ENG UNIV
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Problems solved by technology
[0007] The purpose of the present invention is to solve the problem that the single strapdown inertial navigation system and other auxiliary positioning methods in the current pipeline detection and positioning system cannot realize high-precision positioning of long-distance oil and gas pipelines, and propose a method to realize high-precision defect detection in long-distance oil and gas pipelines Geocoordinate Compensation Method for Positioning Oil and Gas Pipeline Positioning System
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[0054] The patent of the present invention will be described in more detail below with reference to the accompanying drawings. It should be noted that the gyroscope, accelerometer, pipeline defect detection system, ultra-low frequency electromagnetic wave positioning, odometer and system control circuit used in the system are all typical devices and The circuit connection is no longer described in its schematic diagram:
[0055] First, the number of metal welds detected by the eddy current sensor is used to determine the steel pipe section where the pipeline detection system is located to achieve rough positioning. Then, the odometer / ultra-low frequency electromagnetic wave correction method is used to calculate and compensate the error of the strapdown inertial navigation system for pipeline positioning. The mileage increment and the ultra-low frequency electromagnetic wave positioning signal are used as observation values, and the state error is used as a state variable, and ...
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The invention belongs to the seabed oil-gas pipeline detection positioning field, and concretely relates to a geographic coordinate compensation method for a seabed oil-gas pipeline detection positioning system. The method comprises employing a metal weld quantity detected by a current vortex sensor to determine a system-located steel pipe segment, so as to realize coarse positioning; employing a mileage gauge / ultralow-frequency electromagnetic wave correction method to calculate a strapdown inertial navigation system positioned by the pipeline and perform error compensation, taking mileage increment and an ultralow-frequency electromagnetic wave positioning signal as observed value, taking state error as a state variable, and employing Kalman filtering to estimate the state error; and combining a quadratic Bayes curve method and a forward and backward filtering algorithm to reduce the maximum error. The provided method is applicable to precise positioning of any pipeline detection positioning system based on a strapdown inertial navigation system, is capable of substantially reducing the accumulation effect of strapdown inertial navigation system error along with time when single filtering is performed, and is capable of reducing positioning error to one fourth of the original positioning error.
Description
technical field [0001] The invention belongs to the field of detection and positioning of submarine oil and gas pipelines, and in particular relates to a geographic coordinate compensation method for a detection and positioning system of submarine oil and gas pipelines. Background technique [0002] Oil and gas pipelines are the fastest and most economical means of long-distance transportation of various oil and gas resources. However, most of my country's oil and gas pipelines have reached or exceeded their service life, which has become a major hidden danger of oil and gas pipelines. The leakage and explosion of oil and gas resources not only seriously affect the exploitation and transportation of oil and gas resources, causing huge economic losses, but also cause environmental pollution, and even lead to ecological disasters. Therefore, regular inspection, safety assessment and timely maintenance of oil and gas pipelines are of great significance to ensure their safe and...
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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20
Inventor 高延滨管练武孙云龙马明远丛晓丹张帆李抒桐杨淳
Owner HARBIN ENG UNIV