Error compensation system and method for long-distance underground pipeline positioning system

Abstract

The invention discloses an implementation system of an error compensation method for a long-distance underground pipeline positioning system. The implementation system comprises a pipeline positioningdevice, an engineering distance measurement instrument and an upper computer; the pipeline positioning device is fixed to a pipeline robot and used for detecting the altitude angle and mileage data of the pipeline robot, and the position of the pipeline robot in a pipeline to be measured is worked out based on an inertial navigation principle; the pipeline positioning device travels in the pipeline along with the pipeline robot, and when an electromagnetic wave signal is received and reaches the highest strength, coordinate data for correcting a current position is triggered; the pipeline positioning device stores all pipeline coordinate data into a storage module; the engineering distance measurement instrument is set to be used for detecting the position coordinates of the head and tailends of the pipeline to be measured and plane coordinates of a pipeline exterior coordinate correcting point; the upper computer is set to be used for reading the coordinate data in the storage module, correcting inertial navigation positioning data, and finally conducting three-dimensional display on corrected pipeline coordinate data. The implementation system is large in application range andhigh in calculation precision.

Description

technical field [0001] The invention relates to the field of pipeline surveying and mapping, in particular to an error compensation method and an implementation system for a long-distance underground pipeline positioning system. Background technique [0002] Pipeline transportation is one of the five major transportation industries along with railways, highways, water transportation and shipping. It has the advantages of large transportation volume, not limited by climate and other factors on the ground, continuous operation and low cost. [0003] The normal operation of pipeline transportation is a major issue related to the safety of people's livelihood and the development of the national economy. When underground pipelines are destroyed, it may cause huge economic losses, and even cause major environmental pollution and casualties. When the location of the underground pipeline is not clear, it will bring a lot of inconvenience to the underground construction. In order t...

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Problems solved by technology

However, the above detection technologies have their corresponding limitations: for pipelines buried below 5 meters or passing through rivers and lakes, it is difficult to meet the accuracy requirements of electromagnetic induction detection; in reality, the length of an underground pipeline can reach hundreds of kilometers. For long-distance underground pipelines, it is not convenient to use high-density electrical method and high-precision magnetic measurement method

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