Time synchronization method for detecting reducing and inertial navigation subsystem data in pipeline
A technology of subsystems and pipelines, applied in the fields of variable diameter and inertial navigation subsystems, can solve problems such as inability to perform synchronization operations, limitations of synchronization methods, natural gas, and defects in the inner wall of pipelines.
Active Publication Date: 2018-06-22
SHENYANG POLYTECHNIC UNIV
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Problems solved by technology
[0004] 2. Synchronization problems between PIG internal subsystems
[0008] 3. Limitations of Existing Synchronization Methods
Even if the odometer maintains its mechanical structure without deformation and damage in a harsh environment of about 100 hours, high-viscosity crude oil, highly corrosive natural gas, and defects in the inner wall of the pipeline may cause the odometer to slip, get stuck, and electrical components fail, etc. Serious Problem
Once the mileage data is partially or completely invalid, all synchronization operations cannot be performed
[0012] 2) The mileage correction causes the relevant synchronization data to be corrected again
This obviously increases the complexity of system data processing and reduces system reliability
Method used
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[0129] step one:
[0130] obtained from step 1 figure 1 , is the original data of the mileage of a typical inertial navigation detection subsystem, the horizontal axis is the number of sampling points, the vertical axis is the mileage signal containing a lot of noise, the signal is essentially a triangular wave level, and m1 on the horizontal axis is the inertial navigation in the ball The number of sampling points at the starting point of the subsystem, the S area near the starting point is in Image 6 zoom in;
[0131] obtained from step 1 figure 2 It is the original data of the mileage of a typical variable-diameter detection subsystem. The horizontal axis is the number of sampling points, and the vertical axis is the mileage signal containing a lot of noise. The signal is essentially a triangular wave level. m2 is the sampling point of the variable-diameter subsystem in the serving tube. points. obviously figure 2 data and figure 1 The data waveforms are exactly th...
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The invention discloses a synchronization operation process for PIG reducing and inertial navigation subsystem output data based on mileage data time. According to the process, first, mileage data columns in a reducing and inertial navigation output data matrix are subjected to graphic processing, and the number of sampling points is used as a horizontal axis; second, a starting point search method is used to mark the number of sampling points of mileage data at a moment from a static state to a motion state in two graphs respectively; third, time corresponding to the mileage data at the moment from the static state to the motion state in respective system clocks is solved; and last, a difference value of the two clocks is solved, the clock of a reducing subsystem and the clock of an inertial navigation subsystem are corrected into the same time, and data synchronization is realized. By the adoption of the synchronization method, compared with the method of using all mileage data as asynchronization criterion, the synchronization failure problem caused by milemeter failure or mileage data correction in a later period in the PIG motion process can be effectively solved, and synchronization operation can be performed on all the output data of the two subsystems as long as the integrity of the mileage data at a launcher stage is guaranteed.
Description
technical field [0001] The invention relates to a method for synchronizing the output data of the internal subsystem of the detection device in the pipeline, in particular to the two subsystems of the variable diameter and the inertial navigation in the detection device in the pipeline, and the internal detection of the variable diameter / inertial navigation combination of various pipeline diameters system can use this synchronization method. Background technique [0002] 1. In-pipeline detection [0003] The in-pipe inspection device (PIG) can measure the defect or deformation of the pipeline during the movement in the pipeline. PIG usually can be equipped with multiple detection subsystems according to the needs of the current mission. Since each detection subsystem needs to be flexibly combined according to different tasks, each subsystem usually has independent data acquisition and storage capabilities. Since the variable diameter device occupies a relatively small s...
Claims
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IPC IPC(8): G06F1/12F17D5/00
CPCF17D5/00G06F1/12
Inventor 靳鹏杨理践邢燕好张佳
Owner SHENYANG POLYTECHNIC UNIV