Pipeline mapping equipment calibration methods, devices, equipment and readable storage media

Abstract

This application discloses a method, apparatus, device, and readable storage medium for calibrating pipeline mapping equipment. The method includes the steps of: acquiring calibration test data of the pipeline mapping equipment; calculating the installation deviation angle of the inertial measurement unit in the pipeline mapping equipment based on the calibration test data; and calibrating the pipeline mapping equipment based on the installation deviation angle. This application achieves the effect of calculating the installation deviation angle of the inertial measurement unit in the pipeline mapping equipment based on the calibration test data, thereby calibrating the pipeline mapping equipment based on the installation deviation angle, thus ensuring the accuracy of the measurement results collected by the pipeline mapping equipment during use.

Description

Technical Field

[0001] This application relates to the fields of engineering surveying and pipeline surveying technology, and in particular to a method, apparatus, equipment and readable storage medium for calibrating pipeline surveying equipment. Background Technology

[0002] In the process of surveying and mapping urban underground pipe networks, due to the complexity of the pipe distribution and the limitations of the pipe structure itself, it is necessary to use corresponding pipe robots to walk inside them in order to complete the surveying and mapping work.

[0003] Typically, inertial measurement units and odometers are installed on pipeline robots. Based on the inertial measurement units and odometers, the pipeline is mapped in three dimensions to obtain the corresponding pipeline data. This method has a significant advantage due to its high degree of autonomy.

[0004] However, since the mapping accuracy of pipeline robots mainly depends on the mapping results of inertial measurement units and odometers, meaning that its measurement accuracy is greatly affected by the installation errors of inertial measurement units and odometers, how to ensure the mapping accuracy of pipeline robots is an urgent problem to be solved. Summary of the Invention

[0005] In view of this, this application provides a method, apparatus, equipment and readable storage medium for calibrating pipeline surveying equipment, aiming to improve the accuracy of pipeline surveying equipment during surveying.

[0006] To achieve the above objectives, this application provides a method for calibrating pipeline surveying equipment, the method comprising the following steps:

[0007] Obtain calibration test data for pipeline mapping equipment;

[0008] Based on the calibration test data, calculate the installation deviation angle of the inertial measurement unit in the pipeline mapping equipment;

[0009] The pipeline mapping equipment is calibrated based on the installation deviation angle.

[0010] For example, the calibration test data includes static state data and rotational state data, and the step of calculating the installation deviation angle of the inertial measurement unit in the pipeline mapping equipment based on the calibration test data includes:

[0011] Based on the static state data and the inertial two-vector attitude determination algorithm, the initial attitude vector of the inertial measurement unit is calculated;

[0012] The output of the inertial measurement unit is corrected based on the initial state vector.

[0013] Based on the corrected output of the inertial measurement unit, the rotational state data is mechanically arranged and matrix-transformed to obtain the attitude angles and Euler angles of the inertial measurement unit.

[0014] The installation deviation angle is calculated based on the attitude angle and the Euler angle.

[0015] For example, the step of correcting the output of the inertial measurement unit based on the initial state vector includes:

[0016] Based on the static state data and the inertial navigation dual-vector attitude determination algorithm, the initial attitude vector of the inertial measurement unit is calculated.

[0017] The compensation bias is calculated based on the ZUPT algorithm, the ZIHR algorithm, and the initial state vector, and the output of the inertial measurement unit is corrected based on the compensation bias.

[0018] For example, the Euler angles include X-axis Euler angles and Z-axis Euler angles, and the step of calculating the installation deviation angle based on the attitude angles and the Euler angles includes:

[0019] Calculate the Euler angles along the X-axis and Z-axis at each time point, and calculate the variances of the Euler angles along the X-axis and Z-axis.

[0020] Based on the attitude angle, the X-axis Euler angle, and the Z-axis Euler angle, construct a vector matrix composed of installation deviation angles;

[0021] Based on the preset branch and bound algorithm and the variance, the installation deviation angle in the vector matrix is ​​solved by brute force search.

[0022] For example, prior to the step of obtaining calibration test data of the pipeline mapping equipment, the following steps are included:

[0023] The levelness of the pipeline mapping equipment on the preset test platform is checked;

[0024] If the levelness is greater than the preset levelness range, a prompt message will be output to the relevant personnel to prompt them to adjust the levelness of the pipeline mapping equipment on the test platform.

[0025] If the levelness is within the preset levelness range, then the inertial measurement unit in the pipeline mapping equipment is controlled to collect calibration test data.

[0026] For example, the calibration test data includes static state data and rotational state data. The step of controlling the inertial measurement unit in the pipeline mapping equipment to collect calibration test data if the levelness is within the preset levelness range includes:

[0027] If the levelness is within the preset levelness range, then the inertial measurement unit in the pipeline mapping equipment is controlled to collect the static state data of the pipeline mapping equipment;

[0028] After collecting static state data within a preset time period, the pipeline mapping equipment is controlled to rotate at a preset speed, and the inertial measurement unit is controlled to collect the rotational state data of the pipeline mapping equipment.

[0029] For example, the step of calibrating the pipeline mapping equipment according to the installation deviation angle includes:

[0030] The adjusted pipeline mapping equipment is retested, and the steps of obtaining calibration test data of the pipeline mapping equipment are returned to obtain multiple calibration results;

[0031] If the deviation between the multiple calibration results is less than the preset deviation, then it is determined that the multiple calibration results all meet the preset standard, and the calibration ends.

[0032] For example, to achieve the above objectives, this application also provides a pipeline mapping equipment calibration device, the device comprising:

[0033] The acquisition module is used to acquire calibration test data of pipeline mapping equipment;

[0034] The calculation module is used to calculate the installation deviation angle of the inertial measurement unit in the pipeline mapping equipment based on the calibration test data.

[0035] The adjustment module is used to calibrate the pipeline surveying equipment according to the installation deviation angle.

[0036] For example, to achieve the above objectives, this application also provides a pipeline mapping device, the device comprising: a memory, a processor, and a pipeline mapping device calibration program stored in the memory and executable on the processor, the pipeline mapping device calibration program being configured to implement the steps of the pipeline mapping device calibration method as described above.

[0037] For example, to achieve the above objectives, this application also provides a computer-readable storage medium storing a pipeline mapping equipment calibration program, which, when executed by a processor, implements the steps of the pipeline mapping equipment calibration method as described above.

[0038] In contrast to related technologies, the measurement accuracy of pipeline robots is significantly affected by the installation errors of the inertial measurement unit (IMU) and odometer. Ensuring the accuracy of pipeline robot mapping is a pressing issue. This application addresses this by acquiring calibration test data of the pipeline mapping equipment and calculating the installation deviation angle of the IMU based on this data. The pipeline mapping equipment is then calibrated using this installation deviation angle. In other words, by acquiring the calibration test data of the pipeline mapping equipment, the relative position between the IMU and the pipeline mapping equipment is determined, thus establishing the coaxiality between the IMU and the main structure of the inertial mapping equipment. The installation deviation angle of the IMU is then calculated, and the inertial mapping equipment is calibrated using this angle, thereby ensuring the accuracy of the data collected by the inertial mapping equipment. Attached Figure Description

[0039] Figure 1 This is a flowchart illustrating the first embodiment of the pipeline mapping equipment calibration method of this application;

[0040] Figure 2 This is a flowchart illustrating the second embodiment of the pipeline mapping equipment calibration method of this application;

[0041] Figure 3 This is a schematic diagram showing the use of the calibration platform for the pipeline mapping equipment in this application.

[0042] Figure 4 This is a schematic diagram of the hardware operating environment involved in the embodiments of this application.

[0043] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0044] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0045] This application provides a method for calibrating pipeline mapping equipment, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the pipeline mapping equipment calibration method of this application.

[0046] This application provides an embodiment of a pipeline mapping equipment calibration method. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order. For ease of description, the following description of the execution entities and the various steps of the pipeline mapping equipment calibration method is omitted. The pipeline mapping equipment calibration method includes:

[0047] Step S110: Obtain calibration test data of pipeline mapping equipment;

[0048] Before pipeline mapping equipment is put into use, it needs to be calibrated. The main purpose of calibration is to maintain a high degree of coaxiality between the main structure of the pipeline mapping equipment (pipeline robot) and the corresponding inertial measurement unit. This avoids situations where the mapping accuracy is low due to low coaxiality between the inertial measurement unit and the main body of the pipeline robot during rotation or movement.

[0049] Therefore, a calibration process is required for pipeline mapping equipment before use. This mainly involves calculating the measurement data collected by the Inertial Measurement Unit (IMU) to determine whether the IMU maintains a high degree of coaxiality with the main body of the pipeline robot.

[0050] For example, prior to the step of obtaining calibration test data of the pipeline mapping equipment, the following steps are included:

[0051] Step a: Check the levelness of the pipeline mapping equipment on the preset test platform;

[0052] As a device that enters a pipeline for surveying, a pipeline robot must have at least the ability to rotate within the pipeline, move in a straight line, and adapt to different pipeline diameters. Therefore, the pipeline robot needs to ensure that the inertial measurement unit is not affected during rotation, that is, to ensure the coaxiality of the inertial measurement unit with the main structure of the pipeline surveying equipment.

[0053] Meanwhile, when calibrating pipeline mapping equipment, a corresponding calibration platform is usually used. This calibration platform includes at least two columns. The pipeline mapping equipment is placed horizontally on these two columns, ensuring that it can rotate normally. This allows for the measurement and calculation of the coaxiality between the inertial measurement unit (IMU) and the pipeline mapping equipment. This determines the specific position of the IMU within the pipeline mapping equipment, as well as its relative position to the IMU itself. Consequently, the attitude angle of the IMU within the pipeline mapping equipment can be determined. Based on this attitude angle, the pipeline mapping equipment is calibrated, thus ensuring the measurement accuracy of the pipeline mapping equipment equipped with the IMU.

[0054] Therefore, when placing pipeline surveying equipment on a calibration platform, it is necessary to first adjust the level of the pipeline surveying equipment on the preset test platform, which is the calibration platform.

[0055] Adjusting the levelness mainly involves adjusting the height of the pipeline surveying equipment on both sides after it is placed on the two end columns of the calibration platform.

[0056] Step b: If the levelness is greater than the preset levelness range, a prompt message is output to the relevant personnel to prompt them to adjust the levelness of the pipeline mapping equipment on the test platform;

[0057] The preset levelness range is the levelness that meets the current test requirements. For example, the test can start when the height difference between the two ends is one millimeter or less than one millimeter. The preset levelness range can be 0-1 millimeter. At the same time, the preset levelness can be set according to the actual accuracy requirements.

[0058] If the levelness exceeds the preset levelness range, it indicates that further adjustment of the pipeline surveying equipment's levelness is still needed. Therefore, it is necessary to output corresponding prompts to relevant personnel to guide them in adjusting the levelness of the pipeline surveying equipment on the test platform.

[0059] The content of this prompt can be an alarm message, indicating that the level does not meet the requirements.

[0060] Step c: If the levelness is within the preset levelness range, then control the inertial measurement unit in the pipeline mapping equipment to collect calibration test data.

[0061] Once the levelness is within the preset levelness range, corresponding calibration test data can be collected. At this time, the calibration test data is collected by the inertial measurement unit in the control pipeline mapping equipment.

[0062] For example, the calibration test data includes static state data and rotational state data. The step of controlling the inertial measurement unit in the pipeline mapping equipment to collect calibration test data if the levelness is within the preset levelness range includes:

[0063] Step d: If the levelness is within the preset levelness range, then control the inertial measurement unit in the pipeline mapping equipment to collect the static state data of the pipeline mapping equipment;

[0064] Step e: After collecting static state data within a preset time period, control the pipeline mapping equipment to rotate at a preset speed, and control the inertial measurement unit to collect the rotation state data of the pipeline mapping equipment.

[0065] When collecting calibration test data, it is necessary to control the pipeline mapping equipment to maintain two states on the calibration platform: one is stationary and the other is rotating. Relevant data of the pipeline mapping equipment in these two states are collected, such as rotational acceleration, rotation angle, and rotational attitude angle.

[0066] Among them, when the pipeline mapping equipment is stationary on the mapping platform, the current position data of the pipeline mapping equipment can be collected. And taking this stationary state as the starting point, the angular velocity and angular displacement of the pipeline mapping equipment at various points can be detected during the process from the stationary state to the rotating state.

[0067] Meanwhile, in order to ensure the accuracy of the data collected when the pipeline surveying equipment is in a static state, the corresponding data can be collected continuously over a period of time when collecting data on the static state of the pipeline surveying equipment, and then the average value can be taken.

[0068] Therefore, after collecting static state data within a preset time period, the pipeline mapping equipment is controlled to rotate, thereby controlling the inertial measurement unit to collect rotational state data of the pipeline mapping equipment.

[0069] The preset rotation speed can be 200 degrees / second.

[0070] The pipeline surveying equipment only needs to be rotated 4-5 times.

[0071] Step S120: Calculate the installation deviation angle of the inertial measurement unit in the pipeline mapping equipment based on the calibration test data;

[0072] Based on the calibration test data, the magnitude of the positional deviation of the inertial measurement unit in the pipeline mapping equipment can be calculated, thereby calculating the corresponding installation deviation angle of the inertial measurement unit, and then calibrating the pipeline mapping equipment based on the installation deviation angle.

[0073] Step S130: Calibrate the pipeline mapping equipment according to the installation deviation angle.

[0074] Based on the reference values ​​to be adjusted, the relative position of the inertial measurement unit in the pipeline mapping equipment is adjusted, mainly considering the coaxiality of the inertial measurement unit and the main structure of the pipeline mapping equipment, and the system of the pipeline mapping equipment is calibrated.

[0075] For example, the step of calibrating the pipeline mapping equipment according to the installation deviation angle includes:

[0076] Step f: Retest the adjusted pipeline mapping equipment and return to the step of obtaining the calibration test data of the pipeline mapping equipment to obtain multiple calibration results;

[0077] Step g: If the deviation between the multiple calibration results is less than the preset deviation, then it is determined that the multiple calibration results all meet the preset standard, and the calibration ends.

[0078] After calibrating and testing the inertial surveying equipment, and calibrating the relative position of the inertial measurement unit in the inertial surveying equipment based on the calibration test data, the testing process can be repeated multiple times. That is, the pipeline surveying equipment after adjustment is retested, and the pipeline surveying equipment is calibrated multiple times based on the retest results, so as to obtain multiple calibration results.

[0079] After multiple calibrations, the resulting calibration results represent the coaxiality between the inertial measurement unit and the main structure of the pipeline mapping equipment after each adjustment. This coaxiality has a corresponding measurement value. By comparing the deviation of the measurement value of the multiple calibration results, if the deviation is less than the preset deviation, it can be determined that the multiple calibration results meet the preset standard, and the calibration process can be ended.

[0080] The preset deviation can be set according to the actual situation. For example, the preset deviation can be set to 0.2. For example, if the coaxiality is 0.1 or 0.3, the deviation is 0.2, that is, the deviation between the two calibration results is equal to the preset deviation, which meets the preset standard.

[0081] In contrast to related technologies, the measurement accuracy of pipeline robots is significantly affected by the installation errors of the inertial measurement unit (IMU) and odometer. Ensuring the accuracy of pipeline robot mapping is a pressing issue. This application addresses this by acquiring calibration test data of the pipeline mapping equipment and calculating the installation deviation angle of the IMU based on this data. The pipeline mapping equipment is then calibrated using this installation deviation angle. In other words, by acquiring the calibration test data of the pipeline mapping equipment, the relative position between the IMU and the pipeline mapping equipment is determined, thus establishing the coaxiality between the IMU and the main structure of the inertial mapping equipment. The installation deviation angle of the IMU is then calculated, and the inertial mapping equipment is calibrated using this angle, thereby ensuring the accuracy of the data collected by the inertial mapping equipment.

[0082] For example, refer to Figure 2 , Figure 2 This is a flowchart illustrating the second embodiment of the microservice communication method of this application. Based on the first embodiment of the microservice communication method of this application described above, a second embodiment is proposed, wherein the method further includes:

[0083] Step S210: Calculate the initial attitude vector of the inertial measurement unit based on the static state data and the inertial dual-vector attitude determination algorithm;

[0084] Calibration test data includes static state data and rotational state data. When collecting the corresponding data through the inertial measurement unit, it is continuously collected when the pipeline mapping equipment changes from a static state to a rotational state. Therefore, in order to make better use of static state data and rotational state data, it is necessary to classify the calibration test data and clearly distinguish between static state data and rotational state data before using the above two types of data.

[0085] This involves segmenting the collected calibration test data into static state data and rotating state data.

[0086] Since the variances of static and rotating state data differ significantly, the variances are calculated piecewise based on the output data from the three axes of the gyroscopes (the inertial measurement unit contains three gyroscopes and three accelerometers, corresponding to the X, Y, and Z axes respectively). The formula is as follows:

[0087]

[0088]

[0089] In formula (1), n ​​represents the number of data points, Gryi represents the i-th data point, and meanGry represents the mean of these n data points.

[0090] In formula (2), n represents the number of data points, Gryi represents the i-th data point, meanGry represents the mean of the n data points, and varGry represents the variance of the n data points.

[0091] If the variances calculated for all three axes are less than a threshold, the equipment is considered stationary; otherwise, it is considered dynamic. Based on this method, the data is segmented sequentially for assessment, ultimately separating the stationary and rotating state data from the entire calibration test data.

[0092] Furthermore, initial alignment of the inertial navigation system can be performed based on the static state data.

[0093] During the stationary phase, the initial state vector of the IMU is calculated using the inertial navigation dual-vector attitude determination algorithm based on the accelerometer and gyroscope output data. The formula is as follows:

[0094]

[0095] In formula (3), f is the accelerometer output, ω is the gyroscope output, normalize means vector normalization, and T is the transpose operator.

[0096] Step S220: Correct the output of the inertial measurement unit according to the initial state vector;

[0097] After obtaining the initial state vector, it is necessary to correct it, which mainly involves correcting the output of the inertial measurement unit (the data collected by the inertial measurement unit) to ensure data accuracy.

[0098] For example, the step of correcting the output of the inertial measurement unit based on the initial state vector includes:

[0099] Step h: Calculate the initial attitude vector of the inertial measurement unit based on the static state data and the inertial navigation dual-vector attitude determination algorithm;

[0100] Step i: Calculate the compensation bias value based on the ZUPT algorithm, ZIHR algorithm and the initial state vector, and correct the output of the inertial measurement unit based on the compensation bias value.

[0101] Based on the characteristics of stationary data where velocity is 0, position remains unchanged, and heading remains unchanged, the Zero Velocity Correction (ZUPT) and Zero Integral Heading Rate (ZIHR) algorithms are used to calculate the bias values ​​of the accelerometer and gyroscope. The state vector is 15-dimensional, as follows:

[0102] [φδvδp bg ba]

[0103] These are the misalignment angle, velocity error, position error, gyroscope bias, and accelerometer bias.

[0104] The observation vector is 7-dimensional:

[0105] [v pθ]

[0106] These are velocity observations, position observations, and heading observations.

[0107] The output of the IMU is corrected using the ZUPT and ZIHR algorithms.

[0108] Step S230: Based on the corrected output of the inertial measurement unit, perform mechanical arrangement and matrix transformation on the rotational state data to obtain the attitude angles and Euler angles of the inertial measurement unit;

[0109] Step S240: Calculate the installation deviation angle based on the attitude angle and the Euler angle.

[0110] The data collected by the pipeline mapping equipment during rotation is mechanically arranged to obtain the attitude angles. Since the IMU bias has been corrected, during the brief rotation phase, the attitude angles can be considered to be affected only by the IMU's installation deviation angle. Assume that during the calibration test, the pipeline inertial mapping equipment rotates around the Y-axis, with the other two axes being the X-axis and Z-axis. Due to the installation deviation angles of the IMU and the pipeline inertial mapping equipment, the attitude angles will exhibit periodic rotational changes not only along the Y-axis but also along the X and Z axes.

[0111] For example, the Euler angles include X-axis Euler angles and Z-axis Euler angles, and the step of calculating the installation deviation angle based on the attitude angles and the Euler angles includes:

[0112] Step j: Calculate the Euler angles along the X-axis and Z-axis at each moment, and calculate the variance of the Euler angles along the X-axis and Z-axis.

[0113] Step k: Construct a vector matrix composed of installation deviation angles based on the attitude angles, the X-axis Euler angles, and the Z-axis Euler angles;

[0114] Step 1: Based on the preset branch and bound algorithm and the variance, solve for the installation deviation angle in the vector matrix using a brute-force search method.

[0115] Since the attitude angles after installation angle deviation correction should only exhibit periodic changes along the Y-axis, while the X and Z axes remain constant, we assume the installation deviation angles along the X and Z axes are ax and az, respectively. Therefore, the rotation matrix from the IMU to the pipeline inertial mapping equipment coordinate system is:

[0116]

[0117] After the rotational state data is processed and arranged, the resulting attitude angles can be converted into attitude angles from the pipeline inertial mapping equipment to the navigation platform.

[0118]

[0119] in, This is the rotation matrix from the pipeline inertial mapping equipment to the navigation platform. This is the rotation matrix from the IMU to the navigation platform.

[0120] Will Convert to Euler angles using the rotational compass method in 3-1-2, where:

[0121]

[0122]

[0123] Where Attx represents the Euler angles corresponding to the X-axis, and Attz represents the Euler angles corresponding to the Z-axis. asin is the inverse trigonometric function, and atan is the arctangent function. for The element in the i-th row and j-th column of the matrix.

[0124] To ensure optimal calibration results, a brute-force search approach is employed. For each possible installation deviation angle ax and az within a certain range, Attx and Attz are calculated at each moment during the rotation phase according to the steps described above. The variances of Attx and Attz are then calculated using formulas (1) and (2). A brute-force search is used to calculate each possible angle, and then a branch-and-bound algorithm and the omp (omp parallel for) loop instruction are employed to accelerate the search process. The installation deviation angles ax and az with the smallest variance are identified as the final installation deviation angle calibration result.

[0125] In this embodiment, the initial attitude vector of the inertial measurement unit is calculated based on the static state data and the inertial dual-vector attitude determination algorithm; the output of the inertial measurement unit is corrected based on the initial state vector; the rotational state data is mechanically arranged and matrix-transformed based on the corrected output of the inertial measurement unit to obtain the attitude angle and Euler angle of the inertial measurement unit; the installation deviation angle is calculated based on the attitude angle and the Euler angle; and the installation deviation angle for calibrating the pipeline mapping equipment is calculated by setting a corresponding algorithm, thereby completing the calibration of the pipeline mapping equipment and ensuring its mapping accuracy during use.

[0126] For example, based on the first and second embodiments of the microservice communication method of this application described above, a third embodiment is proposed, wherein the method further includes:

[0127] Step m: The calibration platform of the pipeline surveying equipment has two slide rails. Adjust the two support seats on the two slide rails according to the length of the pipeline surveying equipment so that the pipeline surveying equipment can be placed stably on the support seats and can rotate smoothly.

[0128] For example, the specific placement of pipeline mapping equipment and its calibration platform during use is as follows: Figure 3 As shown.

[0129] Among them, pipeline surveying equipment 1; calibration platform 2; support base 3; slide rail 4.

[0130] The slide rails on the calibration platform can slide freely to both sides, thus adapting to and supporting pipeline mapping equipment of different sizes.

[0131] The support base can be used to adjust the levelness of the pipeline surveying equipment.

[0132] Step n: The four support feet need to be fine-tuned according to the level of the pipeline surveying equipment until the pipeline surveying equipment is in a level position.

[0133] Step o: Ensure the device is stationary and there are no other vibrations or interferences in the surrounding environment, then begin acquiring IMU data.

[0134] Step p: After collecting 1 minute of static data, rotate the device 4-5 times at a speed of 200 degrees / second. The entire rotation process lasts about 10 seconds.

[0135] Step q: After the rotation is completed, the data acquisition ends, and then the data is processed by an algorithm to calculate the installation deflection angle of the inertial unit.

[0136] In this embodiment, a calibration platform for pipeline mapping equipment is provided, as well as the sequential steps for calibration on the calibration platform. Some of these steps have been mentioned in the above embodiments and will not be repeated in this embodiment.

[0137] In addition, this application also provides a pipeline surveying equipment calibration device, which includes:

[0138] The acquisition module is used to acquire calibration test data of pipeline mapping equipment;

[0139] The calculation module is used to calculate the installation deviation angle of the inertial measurement unit in the pipeline mapping equipment based on the calibration test data.

[0140] The adjustment module is used to calibrate the pipeline surveying equipment according to the installation deviation angle.

[0141] For example, the computing module includes:

[0142] The first calculation submodule is used to calculate the initial attitude vector of the inertial measurement unit based on the static state data and the inertial two-vector attitude determination algorithm.

[0143] The calibration submodule is used to calibrate the output of the inertial measurement unit based on the initial state vector.

[0144] The conversion submodule is used to mechanically arrange and matrix-convert the rotational state data according to the corrected output of the inertial measurement unit to obtain the attitude angles and Euler angles of the inertial measurement unit.

[0145] The second calculation submodule is used to calculate the installation deviation angle based on the attitude angle and the Euler angle.

[0146] For example, the correction submodule includes:

[0147] The first calculation unit is used to calculate the initial attitude vector of the inertial measurement unit based on the static state data and the inertial navigation dual-vector attitude determination algorithm.

[0148] The second calculation unit is used to calculate the compensation bias value based on the ZUPT algorithm, the ZIHR algorithm and the initial state vector, and to correct the output of the inertial measurement unit based on the compensation bias value.

[0149] For example, the second computing submodule includes:

[0150] The third calculation unit is used to calculate the Euler angles on the X-axis and Z-axis at each moment, and to calculate the variance of the Euler angles on the X-axis and Z-axis.

[0151] The construction unit is used to construct a vector matrix composed of installation deviation angles based on the attitude angle, the X-axis Euler angle, and the Z-axis Euler angle;

[0152] The solution unit is used to solve for the installation deviation angle in the vector matrix by means of a brute-force search based on a preset branch and bound algorithm and the variance.

[0153] For example, the device further includes:

[0154] The detection module is used to detect the levelness of the pipeline mapping equipment on a preset test platform;

[0155] The first judgment module is used to output a prompt message to the relevant personnel if the levelness is greater than the preset levelness range, so as to prompt the relevant personnel to adjust the levelness of the pipeline mapping equipment on the test platform;

[0156] The second judgment module is used to control the inertial measurement unit in the pipeline mapping equipment to collect calibration test data if the levelness is within the preset levelness range.

[0157] For example, the second determination module includes:

[0158] The first control submodule is used to control the inertial measurement unit in the pipeline mapping equipment to collect the static state data of the pipeline mapping equipment if the levelness is within the preset levelness range.

[0159] The second control submodule is used to control the pipeline mapping equipment to rotate at a preset speed after collecting static state data within a preset time period, and to control the inertial measurement unit to collect the rotation state data of the pipeline mapping equipment.

[0160] For example, the adjustment module includes:

[0161] The loop submodule is used to retest the adjusted pipeline mapping equipment and return to the step of obtaining the calibration test data of the pipeline mapping equipment to obtain multiple calibration results;

[0162] The determination submodule is used to determine that if the deviation between the multiple calibration results is less than a preset deviation, the multiple calibration results meet the preset standard and the calibration ends.

[0163] The specific implementation of the pipeline mapping equipment calibration device in this application is basically the same as the embodiments of the above-mentioned pipeline mapping equipment calibration method, and will not be repeated here.

[0164] In addition, this application also provides a pipeline mapping device. For example... Figure 4 As shown, Figure 4 This is a schematic diagram of the hardware operating environment involved in the embodiments of this application.

[0165] For example, Figure 4 This can be a schematic diagram of the hardware operating environment of pipeline surveying equipment.

[0166] like Figure 4 As shown, the pipeline mapping equipment may include a processor 401, a communication interface 402, a memory 403, and a communication bus 404. The processor 401, the communication interface 402, and the memory 403 communicate with each other through the communication bus 404. The memory 403 is used to store computer programs. When the processor 401 executes the program stored in the memory 403, it implements the steps of the pipeline mapping equipment calibration method.

[0167] The communication bus 404 mentioned in the pipeline mapping equipment can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus 404 can be divided into an address bus, a data bus, and a control bus, etc. For ease of illustration, it is represented by only one thick line in the figure, but this does not indicate that there is only one bus or one type of bus.

[0168] Communication interface 402 is used for communication between the above-mentioned pipeline surveying equipment and other equipment.

[0169] The memory 403 may include random access memory (RMD) or non-volatile memory (NM), such as at least one disk storage device. Optionally, the memory 403 may also be at least one storage device located remotely from the aforementioned processor 401.

[0170] The processor 401 mentioned above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0171] The specific implementation method of the pipeline mapping equipment in this application is basically the same as the various embodiments of the above-mentioned pipeline mapping equipment calibration method, and will not be repeated here.

[0172] Furthermore, this application also proposes a computer-readable storage medium storing a pipeline mapping equipment calibration program, which, when executed by a processor, implements the steps of the pipeline mapping equipment calibration method described above.

[0173] The specific implementation of the computer-readable storage medium in this application is basically the same as the embodiments of the pipeline mapping equipment calibration method described above, and will not be repeated here.

[0174] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0175] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0176] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0177] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for calibrating pipeline mapping equipment, characterized in that, The calibration method for pipeline mapping equipment includes the following steps: Obtain calibration test data for pipeline mapping equipment; Based on the calibration test data, calculate the installation deviation angle of the inertial measurement unit in the pipeline mapping equipment; The pipeline mapping equipment is calibrated based on the installation deviation angle. The calibration test data includes static state data and rotational state data. The step of calculating the installation deviation angle of the inertial measurement unit in the pipeline mapping equipment based on the calibration test data includes: Based on the static state data and the inertial two-vector attitude determination algorithm, the initial attitude vector of the inertial measurement unit is calculated; The output of the inertial measurement unit is corrected based on the initial attitude vector; Based on the corrected output of the inertial measurement unit, the rotation state data is mechanically arranged and matrix transformed to obtain the rotation matrix and Euler angles of the inertial measurement unit; The installation deviation angle is calculated based on the rotation matrix and the Euler angles. The Euler angles include the X-axis Euler angles and the Z-axis Euler angles. The step of calculating the installation deviation angle based on the rotation matrix and the Euler angles includes: During the calibration test, the pipeline mapping equipment rotates around the Y-axis, calculates the Euler angles of the X-axis and Z-axis at each moment, and calculates the variance of the Euler angles of the X-axis and Z-axis. Based on the rotation matrix, the X-axis Euler angles, and the Z-axis Euler angles, construct a vector matrix composed of installation deviation angles; Based on the preset branch and bound algorithm and the variance, the installation deviation angle in the vector matrix is ​​solved by brute force search.

2. The pipeline mapping equipment calibration method as described in claim 1, characterized in that, The step of correcting the output of the inertial measurement unit based on the initial attitude vector includes: Based on the static state data and the inertial navigation dual-vector attitude determination algorithm, the initial attitude vector of the inertial measurement unit is calculated. The compensation bias is calculated based on the ZUPT algorithm, the ZIHR algorithm, and the initial attitude vector, and the output of the inertial measurement unit is corrected based on the compensation bias.

3. The pipeline mapping equipment calibration method as described in claim 1, characterized in that, Before the step of acquiring calibration test data of the pipeline mapping equipment, the following steps are included: The levelness of the pipeline mapping equipment on the preset test platform is checked; If the levelness is greater than the preset levelness range, a prompt message will be output to the relevant personnel to prompt them to adjust the levelness of the pipeline mapping equipment on the test platform. If the levelness is within the preset levelness range, then the inertial measurement unit in the pipeline mapping equipment is controlled to collect calibration test data.

4. The pipeline mapping equipment calibration method as described in claim 3, characterized in that, The calibration test data includes static state data and rotational state data. The step of controlling the inertial measurement unit in the pipeline mapping equipment to collect calibration test data if the levelness is within the preset levelness range includes: If the levelness is within the preset levelness range, then the inertial measurement unit in the pipeline mapping equipment is controlled to collect the static state data of the pipeline mapping equipment; After collecting static state data within a preset time period, the pipeline mapping equipment is controlled to rotate at a preset speed, and the inertial measurement unit is controlled to collect the rotational state data of the pipeline mapping equipment.

5. The pipeline mapping equipment calibration method as described in claim 1, characterized in that, The step of calibrating the pipeline surveying equipment based on the installation deviation angle includes: The adjusted pipeline mapping equipment is retested, and the steps of obtaining calibration test data of the pipeline mapping equipment are returned to obtain multiple calibration results; If the deviation between the multiple calibration results is less than the preset deviation, then it is determined that the multiple calibration results all meet the preset standard, and the calibration ends.

6. A calibration device for pipeline mapping equipment, characterized in that, The pipeline mapping equipment calibration device includes: The acquisition module is used to acquire calibration test data of pipeline mapping equipment; The calculation module is used to calculate the installation deviation angle of the inertial measurement unit in the pipeline mapping equipment based on the calibration test data. An adjustment module is used to calibrate the pipeline mapping equipment according to the installation deviation angle; The calibration test data includes static state data and rotational state data, and the pipeline mapping equipment calibration device is used to achieve: Based on the static state data and the inertial two-vector attitude determination algorithm, the initial attitude vector of the inertial measurement unit is calculated; The output of the inertial measurement unit is corrected based on the initial attitude vector; Based on the corrected output of the inertial measurement unit, the rotation state data is mechanically arranged and matrix transformed to obtain the rotation matrix and Euler angles of the inertial measurement unit; The installation deviation angle is calculated based on the rotation matrix and the Euler angles. The pipeline mapping equipment calibration device is used to achieve: During the calibration test, the pipeline mapping equipment rotates around the Y-axis, calculates the Euler angles of the X-axis and Z-axis at each moment, and calculates the variance of the Euler angles of the X-axis and Z-axis. Based on the rotation matrix, the X-axis Euler angles, and the Z-axis Euler angles, construct a vector matrix composed of installation deviation angles; Based on the preset branch and bound algorithm and the variance, the installation deviation angle in the vector matrix is ​​solved by brute force search.

7. A pipeline mapping device, characterized in that, The device includes: a memory, a processor, and a pipeline mapping equipment calibration program stored in the memory and executable on the processor, the pipeline mapping equipment calibration program being configured to implement the steps of the pipeline mapping equipment calibration method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a pipeline mapping equipment calibration program, which, when executed by a processor, implements the steps of the pipeline mapping equipment calibration method as described in any one of claims 1 to 5.

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