Pipeline positioning method and system based on inertial navigation system and speedometer

Abstract

The embodiment of the invention provides a pipeline positioning method and system based on an inertial navigation system and a speedometer. The system comprises a calibration module, a compensation module, a data processing module and an analysis module, wherein the calibration module is used for calibrating measuring error parameters of a gyroscope and an accelerometer based on a pre-constructedmeasurement output model; the compensation module is used for conducting error compensation on original data collected by the gyroscope and the accelerometer by using the measured error parameters; the data processing module is used for processing the original data obtained after being compensated so as to obtain navigation information of the inertial navigation system; the analysis module is usedfor positioning a fault point of a pipeline according to the navigation information of the inertial navigation system. According to the technical scheme, the inertial navigation system and the speedometer form an inertial / speedometer combined autonomous navigation positioning system, the problem that an inertial system is divergent along with increasing of time is solved, and therefore, the pipeline positioning precision is improved. By using the pre-constructed error calibration model, the calibration time is shortened, energy of testers is saved, fewer man-made operation errors are generated, and the calibration efficiency and accuracy are greatly improved.

Description

technical field [0001] The present application relates to the field of pipeline fault location, in particular to a pipeline location method and system based on an inertial navigation system and an odometer. Background technique [0002] Urban underground pipelines are important carriers for transporting fluids such as water, oil, gas, and heat. The normal operation of pipeline transportation is a major issue related to people's livelihood security and national economic development. Leakage of underground pipelines not only brings huge economic losses, but also causes major environmental pollution and casualties. By regularly inspecting the pipeline to obtain the flaw detection position and repairing it in advance, it will bring great convenience to the maintenance and replacement of the pipeline. The pipeline inertial measurement system is specially used in the fields of oil and gas pipelines and horizontal drilling. It travels with the medium in the running oil and gas pip...

AI Technical Summary

Problems solved by technology

The pipeline inertial measurement system is specially used in the fields of oil and gas pipelines and horizontal drilling. It travels with the medium in the running oil and gas pipelines. Since the GPS signal cannot be received in the pipeline, it is impossible to accurately locate the fault of the pipeline.

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