Online synchronization method of pipeline internal inspection leakage flux and inertial navigation subsystem data

Abstract

The invention discloses an online synchronization method of pipeline internal inspection leakage flux and inertial navigation subsystem data of PIG leakage flux and inertial navigation subsystem output data based on real time. The method comprises the following steps: step one, the PIG master control computer collects inertial navigation data in real time; step two, the PIG master control computercollects the leakage flux data in real time; and step three, the online real-time leakage flux and inertial navigation data synchronization is performed. By adopting the synchronization method disclosed by the invention, the problem that the time synchronization is solved by directly using the real-time data fusion of the online data is solved by sufficiently utilizing the feature that the onlinecommunication system delay is much less than the synchronization precision demand. Compared with the offline processing method of using all mileage data as the synchronization standard, the synchronization precision can be greatly improved, and the synchronization failed problem caused by the milemeter failure or later mileage data modification in the PIG movement process is effectively solved.

Description

technical field [0001] The invention relates to the field of pipeline detection, and relates to a method for synchronizing output data of internal subsystems of a pipeline detection device (PIG), in particular to two subsystems of magnetic flux leakage and inertial navigation in a pipeline detection device, various pipeline pipelines This synchronization method can be used in all diameter magnetic flux leakage / inertial navigation combined detection systems. 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 magnetic flux leakage device occupies ...

AI Technical Summary

Problems solved by technology

Since the magnetic flux leakage device occupies a relatively large space in the PIG, it cannot be installed in the cavity of the PIG with the inertial navigation device, and cannot be regarded as a whole in space, and cannot share a mileage data

[0004] 2. Synchronization problems between PIG internal subsystems

[0009] 3. Limitations of Existing Synchronization Methods

Therefore, when processing offline, using the mileage data of hundreds of kilometers as the basis for synchronization will seriously affect the synchronization accuracy

[0014] 2) easy to fail

Even if the odometer maintains its mechanical and electrical structures 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 Serious problems such as failure

Once the mileage data is partially or completely invalid, all offline synchronization operations cannot be performed

[0015] 3) 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

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