Positioning device for defects of small-diameter pipeline and positioning method based on fast orthogonal searching algorithm

Abstract

The invention provides a positioning device for defects of a small-diameter pipeline and a positioning method based on a fast orthogonal searching algorithm. The positioning device is characterized in that track coordinate information of a pipeline measuring device in the running process is calculated by a strap-down inertial navigation algorithm; the axial speed is measured by an odometer, and the non-integral constraints in the pipeline are used for providing speeds in the transverse and longitudinal directions; a tracking module is used for recording a surface magnetic marker with known coordinate position along the measured pipeline, so as to provide a discrete position; detection results of a pipeline connector based on the fast orthogonal searching algorithm are used for providing error correction of azimuth angles and pitch angles for the pipeline measuring device in a straight pipeline; the measuring information is utilized by the Kalman filtering estimation and data offline smoothing processing in the positive and reverse directions, and the error of the inertial navigation system is corrected, so as to accurately measure the track and direction of the small-diameter pipeline. The pipeline defect detection sensor is used for effectively detecting the pipeline defects. The pipeline defect detection system and the pipeline positioning system are used for synchronous operation to accurately position the defects of the detected pipeline.

Description

technical field [0001] The invention relates to a pipeline surveying and mapping device, and the invention also relates to a pipeline surveying and mapping method. Specifically, it is a small-diameter pipeline defect location device and method for detecting pipeline connectors based on a fast orthogonal search algorithm. Background technique [0002] As a large number of early-laid pipelines have reached or exceeded their service life, the environmental pollution and economic losses caused by pipeline leakage are very serious, and even the safety threat caused by pipeline explosion is even more incalculable. The pipeline measuring device is the most effective tool for detecting and locating pipeline defects in the pipeline, and has become the first choice for periodic inspection of various pipelines. In addition, natural factors such as mudslides and landslides will also cause pipeline deformation. The use of pipeline measuring devices can achieve effective measurement of t...

AI Technical Summary

Problems solved by technology

The magnetometer running in the steel pipeline is affected by the shielding effect of the pipeline material, so it is difficult to accurately measure the azimuth angle of the pipeline according to the principle of the magnetometer

Therefore, it is difficult to design and implement in actual pipeline inspection

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