A positioning device and positioning method for small-diameter pipelines based on pipeline connectors

Abstract

The invention specifically relates to a positioning device and positioning method for defects of small-diameter pipelines based on detection of pipeline connectors, belonging to the field of pipeline surveying and mapping. The positioning device for the defects of the small-diameter pipelines uses a strapdown MEMS inertial measurement unit as a core and calculates the trajectory coordinate information of a pipeline measuring device during running in a pipeline by using a strapdown inertial navigation algorithm; mileage gauges installed at the tail of the pipeline measuring device measure the axial velocity of the pipeline measuring device; a tracking module can record known surface magnetic marks at coordinate positions along a to-be-detected pipeline and provide discrete positions; pipeline connector detection can provide azimuth and pitch angle error correction for the pipeline measuring device in a straight pipeline; Kalman filter estimation technology and data off-line smoothing technology can utilize measurement information in both forward and backward directions and correct the errors of an inertial navigation system so as to realize accurate measurement of the trajectory and direction of a small-diameter pipeline. A pipeline defect detection system and a pipeline positioning system can be subjected to time synchronization operation so as to realize precise positioning of the defects of the to-be-detected pipeline.

Description

technical field [0001] The invention relates to a small-diameter pipeline defect positioning device and a positioning method based on pipeline connector detection, belonging to the field of pipeline surveying and mapping. 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 the coordinates of the detected pipeline, and analyzing the displacement or deformation of the pipeline...

AI Technical Summary

Problems solved by technology

[0005] At present, no introduction of devices and methods similar to this invention has been found in core journals and patent inquiries

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