Measurement method for three-dimensional geographical coordinates of submarine pipeline
A technology of geographic coordinates and measurement methods, which is applied to measurement devices, navigation through speed/acceleration measurement, surveying and navigation, etc., can solve the problem of inertial navigation positioning error positioning divergence, difficulty in obtaining pipeline GPS information, and difficulty in engineering geophysical detection and other problems, to achieve the effect of strong adaptability, wide application, and not easy to be blocked
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Embodiment 1
[0040] The embodiment of the present invention provides a method for measuring three-dimensional geographic coordinates of a submarine pipeline, see figure 1 , The method includes the following steps:
[0041] 101: Fix the three-component magnetic sensor and the acceleration sensor at any position in the spherical inner detector, put the spherical inner detector into the pipe for inspection, and measure the magnetic field and acceleration in the pipeline. After the inspection, the magnetic field recorded by the spherical inner detector Download the signal to the host computer for data processing; calculate the mileage of the spherical inner detector;
[0042] 102: Construct a transformation matrix; perform coordinate transformation on the magnetic field;
[0043] 103: Solve the 3D trend of the pipeline corresponding to the jth data subset;
[0044] 104: Calculate the pipeline 3D geographic coordinates, and use the pipeline endpoint 3D geographic coordinates to calibrate the prelimina...
Embodiment 2
[0059] The following describes the scheme in Embodiment 1 in detail with reference to specific drawings and calculation formulas, and see the following description for details:
[0060] 201: Data collection part;
[0061] That is to fix the three-component magnetic sensor and the three-component acceleration sensor at any position in the spherical inner detector, obtain the magnetic field signal in the pipeline and the acceleration signal of the spherical inner detector, and transmit the magnetic field signal and acceleration signal to the host computer;
[0062] The detailed operation of this step is: fix the three-component magnetic sensor and the acceleration sensor at any position in the spherical inner detector, put the spherical inner detector into the tube for inspection, and measure the magnetic field and acceleration in the pipeline. The magnetic field signal recorded by the detector is downloaded to the upper computer for data processing.
[0063] Among them, the embodiment ...
Embodiment 3
[0137] Combine below Image 6 The feasibility verification of the schemes in Examples 1 and 2 is carried out, as detailed in the following description:
[0138] 1) Install the three-component magnetic sensor and the three-component acceleration sensor in the spherical inner detector, turn on the power of the spherical inner detector, the electronic system starts data collection and storage of magnetic field signals and acceleration signals, and seal and tighten the spherical inner detector it is good.
[0139] 2) The spherical inner detector is launched into the oil and gas pipeline from the launch tube at the beginning of the oil and gas pipeline. The spherical inner detector is pushed by the fluid in the pipeline to roll forward while recording the magnetic field signal and acceleration signal.
[0140] 3) When the spherical inner detector reaches the end of the oil and gas pipeline, take out the spherical inner detector from the ball collecting tube, and wipe the spherical inner d...
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