Positioning detection method of underwater oil and gas pipeline outer cable based on GPS-RTK

Abstract

The invention relates to the technical field of underwater positioning, in particular to a GPS-RTK (Global Positioning System-Real-Time Kinematic)-based positioning detection method for an outer cable of an underwater oil and gas pipeline. Acquiring three-dimensional space positions of preset detection points on the underwater pipeline and the heating cable, and acquiring pipeline parameters and cable parameters through the detection points; sonar detection is combined to obtain distribution data of underwater pipelines and underwater topography; constructing a space relation model between the underwater pipeline and the heating cable, identifying the three-dimensional space position of the detection point, the pipeline parameter, the cable parameter and the distribution data of the underwater pipeline, and identifying the detection point in an abnormal state according to a heat conduction coupling relation; and according to the abnormal detection point and the three-dimensional space position, in combination with the distribution data of the underwater pipeline detected by sonar and the underwater topography, determining the space range of the abnormal area of the pipeline, and identifying the abnormal coefficient of the area. According to the method, the heating abnormity of the underwater pipeline is accurately positioned and identified through the space range and the area abnormity coefficient of the abnormal area of the pipeline.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater positioning, in particular to a positioning and detection method for underwater oil and gas pipeline outer cable based on GPS-RTK. BACKGROUND

[0002] In the technical field of underwater pipeline detection and positioning, accurately determining the spatial coordinates of underwater linear targets such as cables attached to the pipeline is a key challenge. These cables are crucial for maintaining the functionality of the pipeline, such as heating cables for pipeline heating to prevent fluid freezing, and their precise location information is indispensable for maintenance and condition assessment. However, due to the complexity of the underwater environment and the characteristics of the target itself, the position of the cable may change or structural abnormalities may occur.

[0003] Existing underwater target detection technologies, such as systems based on sound wave propagation principles, can provide approximate orientation and distance information of the target, but often have inherent resolution and accuracy limitations in high-resolution mapping of continuous paths of elongated targets and identifying minor positional deviations or structural features. These methods are difficult to meet the demand for centimeter-level precision coordinate determination of cables.

[0004] Therefore, a positioning and detection method for underwater oil and gas pipeline outer cable based on GPS-RTK is proposed. SUMMARY

[0005] The purpose of the present application is to provide a positioning and detection method for underwater oil and gas pipeline outer cable based on GPS-RTK, which comprises: obtaining the three-dimensional spatial position of the preset detection points on the underwater pipeline and heating cable by GPS-RTK, and collecting pipeline parameters and cable parameters through the detection points; then combining sonar detection to obtain the distribution data of the underwater pipeline and the underwater topography; constructing a spatial relationship model between the underwater pipeline and the heating cable, identifying the three-dimensional spatial position of the detection points, the pipeline parameters, the cable parameters and the distribution data of the underwater pipeline, and identifying the detection points with abnormal state according to the heat conduction coupling relationship; according to the abnormal detection points and the three-dimensional spatial position, combining the distribution data of the underwater pipeline and the underwater topography obtained by sonar detection, determining the spatial range of the pipeline abnormal area, and identifying the regional abnormality coefficient; accurately positioning and identifying the heating abnormality of the underwater pipeline through the spatial range of the pipeline abnormal area and the regional abnormality coefficient.

[0006] To achieve the above purpose, the present application provides the following technical scheme:

[0007] Obtain the three-dimensional spatial position of the preset detection points on the underwater pipeline and heating cable by GPS-RTK, and collect pipeline parameters and cable parameters through the detection points; then combine sonar detection to obtain the distribution data of the underwater pipeline and the underwater topography;

[0008] Based on the three-dimensional spatial position of the detection points on the underwater pipeline and heating cable, a spatial relationship model between the underwater pipeline and the heating cable is constructed. Through the spatial relationship model, the three-dimensional spatial position of the detection point, pipeline parameters, cable parameters and underwater pipeline distribution data are identified, and abnormal detection points are identified based on the heat conduction coupling relationship.

[0009] Based on the identified abnormal detection points and three-dimensional spatial positions, combined with the distribution data of underwater pipelines and underwater topography detected by sonar, the spatial scope of the pipeline abnormal area is determined and the regional abnormality coefficient is identified.

[0010] The pipeline parameters include pipeline surface temperature, first spatial position, first seawater parameter and pipeline operation parameter;

[0011] The pipeline surface temperature is the outer surface temperature of the underwater pipeline; the first spatial position is the three-dimensional spatial position of a preset detection point on the underwater pipeline; the first seawater parameters are seawater parameters at the first spatial position, including a first seawater flow velocity, a first seawater flow direction, and a first seawater temperature; the pipeline operation parameters include the transport temperature, transport speed, and transport pressure inside the pipeline;

[0012] The cable parameters include cable surface temperature, second spatial position, second seawater parameters and cable operation parameters;

[0013] The cable surface temperature is the temperature of the cable surface; the second spatial position is the three-dimensional spatial position of a preset detection point on the cable surface; the second seawater parameters are the seawater parameters at the second spatial position, including a second seawater flow velocity, a second seawater flow direction, and a second seawater temperature; the cable operating parameters include cable voltage and cable current.

[0014] The setting method of the detection points and the data collection method are as follows:

[0015] The preset detection points on the underwater pipeline and the heating cable are in corresponding relationship;

[0016] Sensors are set at preset detection points of underwater pipelines and cables; the parameters of the detection points are obtained through the sensors; and the positions of the sensors are obtained as the three-dimensional spatial positions of the detection points based on the detection platform equipped with GPS-RTK.

[0017] The spatial relationship model includes a device anomaly identification layer, a position anomaly identification layer, and a coupling anomaly identification layer;

[0018] The device anomaly identification layer identifies the three-dimensional spatial positions of the collected detection points based on the number and initial position distribution of the preset detection points, and determines the unidentified detection points as device anomaly detection points;

[0019] The position anomaly identification layer identifies the three-dimensional spatial positions of the detection points on the underwater pipeline and the detection points on the heating cable based on the changes in the underwater pipeline distribution data and the seawater parameters of the corresponding detection points, and determines the detection points with position anomalies as position anomaly detection points; and deletes the pipeline parameters and cable parameters of the position anomaly detection points;

[0020] The coupling anomaly identification layer constructs a coupling relationship between the cable surface temperature and the pipeline surface temperature based on historical pipeline parameters and historical cable parameters; identifies the pipeline parameters and cable parameters of the corresponding detection points based on the coupling relationship to obtain coupling anomaly parameters; and determines the coupling anomaly detection point based on the coupling anomaly parameters.

[0021] The coupling relationship includes a direct coupling relationship and an indirect coupling relationship;

[0022] The direct coupling relationship identifies the effect of the heating cable surface temperature on the corresponding detection point sensor on the underwater pipeline based on the cable surface temperature, the first spatial position, the first seawater parameter, the second spatial position, and the second seawater parameter;

[0023] The indirect coupling relationship identifies the effect of the heating cable surface temperature on the underwater pipeline surface temperature based on the cable surface temperature, the first spatial position, the first seawater parameter, the pipeline operating parameter, the second spatial position, and the second seawater parameter;

[0024] The predicted pipeline temperature is obtained according to the direct coupling relationship and the indirect coupling relationship; and the coupling anomaly parameter is determined according to the data difference between the predicted pipeline temperature and the pipeline surface temperature.

[0025] The process of obtaining the spatial range of the pipeline abnormal area includes:

[0026] Obtain the three-dimensional spatial position and anomaly type of the anomaly detection point;

[0027] According to the three-dimensional spatial position and anomaly type of the anomaly detection point, the underwater pipeline is clustered and divided to obtain the pipeline anomaly area, and the spatial position of the pipeline anomaly area is obtained as the spatial range.

[0028] Train based on historical anomaly data to obtain an anomaly recognition model;

[0029] According to the anomaly recognition model, the preset number of detection points, initial positions, collected pipeline parameters, cable parameters, distribution data of underwater pipelines and underwater topography within the spatial range of the pipeline anomaly area are identified to determine the regional anomaly coefficient.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. The present invention constructs a spatial relationship model between the underwater pipeline and the heating cable based on the three-dimensional spatial position of the detection points on the underwater pipeline and the heating cable; identifies the parameters collected at the detection points on the underwater pipeline and the heating cable to obtain equipment anomaly detection points, position anomaly detection points and coupling anomaly detection points; and based on the data processing between different anomaly identifications, the abnormal conditions at the detection points can be accurately identified.

[0032] 2. The present invention identifies the influence of the surface temperature of the heating cable on the sensor of the corresponding detection point on the underwater pipeline as a direct coupling relationship; identifies the influence of the surface temperature of the heating cable on the surface temperature of the underwater pipeline as an indirect coupling relationship; accurately identifies the coupling relationship of the temperature data between the corresponding detection points based on the direct coupling relationship and the indirect coupling relationship, and accurately identifies and locates the detection points with coupling anomalies.

[0033] 3. The present invention obtains the three-dimensional spatial position and anomaly type of the abnormal detection point; clusters and divides the underwater pipeline according to the three-dimensional spatial position and anomaly type of the abnormal detection point to obtain the pipeline abnormal area, obtains the spatial position of the pipeline abnormal area as the spatial range, identifies the preset number and initial position of the detection points within the spatial range of the pipeline abnormal area, and determines the regional anomaly coefficient; accurately identifies the abnormal area and degree of the pipeline based on the abnormal situation of the detection point. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 The figure is a flowchart of a method for positioning and detecting the outer cable of an underwater oil and gas pipeline based on GPS-RTK;

[0035] Figure 2 Schematic diagram of the structure of the spatial relationship model of the present invention;

[0036] Figure 3 Schematic diagram of the process of obtaining the regional anomaly coefficient of the present invention. DETAILED DESCRIPTION

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0038] Example 1

[0039] The present invention proposes a method for positioning and detecting the outer cable of an underwater oil and gas pipeline based on GPS-RTK, the process of which is as follows: Figure 1 Shown, including:

[0040] GPS-RTK is used to obtain the three-dimensional spatial positions of preset detection points on underwater pipelines and heating cables. The pipeline parameters and cable parameters are collected through the detection points. Then, sonar detection is combined to obtain the distribution data of underwater pipelines and the bottom topography.

[0041] The pipeline parameters include pipeline surface temperature, first spatial position, first seawater parameter and pipeline operation parameter;

[0042] The pipeline surface temperature is the outer surface temperature of the underwater pipeline; the first spatial position is the three-dimensional spatial position of a preset detection point on the underwater pipeline; the first seawater parameters are the seawater parameters at the first spatial position, including a first seawater flow velocity, a first seawater flow direction, and a first seawater temperature; the pipeline operating parameters include the transport temperature, transport speed, and transport pressure inside the pipeline; wherein the pipeline operating parameters are obtained and calculated from the pipeline monitoring and data acquisition system.

[0043] The cable parameters include cable surface temperature, second spatial position, second seawater parameters and cable operation parameters;

[0044] The cable surface temperature is the temperature of the cable surface; the second spatial position is the three-dimensional spatial position of a preset detection point on the cable surface; the second seawater parameters are the seawater parameters at the second spatial position, including a second seawater flow velocity, a second seawater flow direction, and a second seawater temperature; the cable operating parameters include cable voltage and cable current.

[0045] The present invention uses GPS-RTK technology to obtain the sensor positions on underwater pipelines and heating cables. Combined with the pipeline parameters and cable parameters detected by the sensors, it can perform long-term, all-weather periodic monitoring of pipelines and cables, improve the accuracy of data acquisition and transmission efficiency, and provide a data basis for subsequent anomaly identification.

[0046] The setting method of the detection points and the data collection method are as follows:

[0047] The preset detection points on the underwater pipeline and the heating cable are in corresponding relationship;

[0048] Sensors are set at preset detection points of underwater pipelines and cables; the parameters of the detection points are acquired through the sensors; and the positions of the sensors are acquired as the three-dimensional spatial positions of the detection points according to the GPS-RTK system.

[0049] GPS-RTK (Real-Time Kinematic Differential Positioning) provides centimeter-level positioning accuracy under ideal conditions, but its signals cannot penetrate water and cannot be directly used to locate underwater sensors. However, by combining surface-based auxiliary equipment with underwater positioning technology, GPS-RTK can be used indirectly to obtain the position of underwater sensors.

[0050] The specific method comprises the following steps: deploying a detection platform carrying a GPS-RTK receiver on the water surface to obtain high-precision water surface coordinates in real time; the detection platform communicates with the sensor through underwater acoustic equipment and transmits position information by using sound waves; the sensor is synchronized with the detection platform through acoustic positioning and calculates the relative position thereof.

[0051] The distribution data of the underwater pipeline and the underwater topography are obtained according to the GPS-RTK detection platform and the sonar detection technology.

[0052] The detection points with corresponding relationships are arranged on the underwater pipeline and the heating cable, and the parameters of the detection points are acquired by the sensor; meanwhile, the position of the sensor is acquired as the three-dimensional space position of the detection points according to the GPS-RTK system, so that the detection data can be accurately acquired.

[0053] Based on the three-dimensional space positions of the detection points on the underwater pipeline and the heating cable, a spatial relationship model between the underwater pipeline and the heating cable is constructed; the three-dimensional space positions of the detection points, the pipeline parameters, the cable parameters and the distribution data of the underwater pipeline are identified through the spatial relationship model, and the detection points with state abnormities are identified according to the heat conduction coupling relationship.

[0054] The spatial relationship model is constructed based on an LSTM model, and the structure thereof is as shown in the figure. Figure 2

[0055] The equipment abnormality identification layer identifies the three-dimensional space positions of the collected detection points according to the number and initial position distribution of the preset detection points, judges the unidentified detection points as equipment abnormality detection points.

[0056] The position abnormality identification layer identifies the distribution change of the underwater pipeline according to the distribution data of the underwater pipeline; identifies the three-dimensional space positions of the first detection point on the underwater pipeline and the second detection point on the heating cable according to the distribution change of the underwater pipeline and the seawater parameters of the corresponding detection points, judges the detection points with position abnormities as position abnormality detection points, and deletes the pipeline parameters and the cable parameters of the position abnormality detection points.

[0057] ​Among them, the first detection point is a detection point set on the underwater pipeline; the second detection point is a detection point set on the heating cable; the corresponding relationship is that there is a corresponding relationship between the setting positions of the first detection point and the second detection point; in the actual detection point and sensor setting process, the closer the distance between the first detection point and the second detection point, the higher the data correlation taken, and the data coupling relationship between the detection points can be more accurately identified; however, due to the position interference of the underwater pipeline and the heating cable and the mutual interference between the detection points, it is difficult to set the first detection point and the second detection point to the same position; therefore, the first detection point and the second detection point are set nearby, and the distance between them is determined according to the direct interference of the heating cable on the first detection point and the accuracy of the coupling relationship between the corresponding detection points.

[0058] That is, when the distance between the first detection point and the second detection point is too close, the surface temperature of the heating cable will have a direct impact on the temperature sensor on the underwater pipeline, resulting in inaccurate pipeline surface temperature data; when the distance between the first detection point and the second detection point is too far, the correlation between the coupling relationship between the collected cable parameters and the pipeline parameters becomes low, and the heat conduction path is difficult to identify; therefore, starting from the recognition accuracy of the spatial relationship model, the above two factors are comprehensively considered to determine the position and distance of the corresponding detection points.

[0059] The coupling anomaly identification layer constructs a coupling relationship between the cable surface temperature and the pipeline surface temperature based on historical pipeline parameters and historical cable parameters; identifies the pipeline parameters and cable parameters of the corresponding detection points based on the coupling relationship to obtain coupling anomaly parameters; and determines the coupling anomaly detection point based on the coupling anomaly parameters.

[0060] In the process of identifying the pipeline parameters and cable parameters obtained at the detection point, the abnormal conditions at the detection point are classified; including equipment abnormality, position abnormality and coupling abnormality;

[0061] The equipment abnormality is the abnormality of sensor performance, including: the sensor's three-dimensional spatial position cannot be identified, the sensor cannot collect pipeline cable parameters;

[0062] The position anomaly is an anomaly in the position of the sensor, including: an anomaly in the position of the first detection point, an anomaly in the position of the second detection point, and an anomaly in the position relationship of the corresponding detection points;

[0063] The abnormal position relationship of the corresponding detection points is that there is a corresponding abnormality in the positions of the corresponding first detection point and the second detection point, that is, the position distance exceeds the preset range; it is determined based on the distance between the first spatial position and the second spatial position, and the abnormality of the first seawater parameter and the second seawater parameter;

[0064] When the distance between the first detection point and the second detection point increases, the difference in seawater parameters at their corresponding positions will also change, thereby accurately identifying positional anomalies between the detection points.

[0065] The position anomaly of the first detection point is determined based on the position change between the first detection points, the change of the seawater parameters obtained at the first detection points and the abnormality of the position relationship of the corresponding detection points;

[0066] The position anomaly of the second detection point is determined based on the position change between the second detection points, the change of the seawater parameters obtained at the second detection points and the abnormality of the position relationship of the corresponding detection points;

[0067] The coupling anomaly is an abnormal change in the temperature radiation effect of the heating cable on the pipeline surface. The heat conduction relationship between the heating cable and the pipeline surface temperature is constructed through the pipeline parameters and the cable parameters as a coupling relationship; the coupling relationship is associated with the spatial distance, seawater environment and pipeline operation conditions.

[0068] The abnormal classification of detection points is shown in Table 1.

[0069] Table 1 Detection point anomaly type data table

[0070]

[0071] The three types of detection point anomalies divided by the present invention are interrelated and influence each other; the equipment anomaly is identified and judged first, and when at least one of the three-dimensional spatial position of the detection point and the sensor detection parameter is missing, it is judged as an equipment anomaly; on the basis of the equipment anomaly judgment, the position anomaly is judged, and the detection points with abnormal positions are identified, and the sensor falls off; on the basis of the position anomaly identification, the coupling relationship is identified according to the collected pipeline parameters and cable parameters, and the coupling anomaly is judged, so as to prepare to identify the abnormal situation of the detection point.

[0072] The present invention constructs a spatial relationship model between the underwater pipeline and the heating cable based on the three-dimensional spatial positions of the detection points on the underwater pipeline and the heating cable; identifies the parameters collected at the detection points on the underwater pipeline and the heating cable to obtain equipment anomaly detection points, position anomaly detection points and coupling anomaly detection points; and accurately identifies abnormal conditions at the detection points based on data processing between different anomaly identifications.

[0073] The coupling relationship includes a direct coupling relationship and an indirect coupling relationship;

[0074] The direct coupling relationship identifies the effect of the heating cable surface temperature on the corresponding detection point sensor on the underwater pipeline based on the cable surface temperature, the first spatial position, the first seawater parameter, the second spatial position, and the second seawater parameter;

[0075] The indirect coupling relationship identifies the effect of the heating cable surface temperature on the underwater pipeline surface temperature based on the cable surface temperature, the first spatial position, the first seawater parameter, the pipeline operating parameter, the second spatial position, and the second seawater parameter;

[0076] The predicted pipeline temperature is obtained according to the direct coupling relationship and the indirect coupling relationship; and the coupling anomaly parameter is determined according to the data difference between the predicted pipeline temperature and the pipeline surface temperature.

[0077] When setting the detection points, in order to accurately understand the heating conditions of the underwater pipeline by the cable at the same location, the detection points on the underwater pipeline and the heating cable are set correspondingly to ensure that the positions of the corresponding detection points are close enough.

[0078] When the corresponding detection points are close enough, the surface temperature of the underwater pipeline detected by the sensor at the detection point is affected by at least the surface temperature of the underwater pipeline, the seawater environment, and the surface temperature of the cable. Therefore, in order to accurately identify and detect the coupling relationship between the parameters of the corresponding detection points, this application proposes a direct coupling relationship and an indirect coupling relationship.

[0079] The heat conduction path of the direct coupling relationship is "heating cable-underwater pipeline sensor (seawater environment)"; the heat conduction path of the indirect coupling relationship is "heating cable-underwater pipeline-underwater pipeline sensor (seawater environment)", thereby achieving accurate identification of the coupling relationship.

[0080] A heat conduction framework with direct gully relationship and indirect coupling relationship is constructed, and the coupling relationship is obtained by training with historical pipeline parameters and historical cable parameters.

[0081] The present invention identifies the influence of the surface temperature of the heating cable on the sensor of the corresponding detection point on the underwater pipeline as a direct coupling relationship; identifies the influence of the surface temperature of the heating cable on the surface temperature of the underwater pipeline as an indirect coupling relationship; accurately identifies the coupling relationship of the temperature data between the corresponding detection points based on the direct coupling relationship and the indirect coupling relationship, and accurately identifies and locates the detection point with coupling anomaly.

[0082] Based on the identified abnormal detection points and three-dimensional spatial positions, combined with the distribution data of underwater pipelines and underwater topography detected by sonar, the spatial scope of the pipeline abnormal area is determined and the regional abnormality coefficient is identified.

[0083] The identification process of the regional anomaly coefficient is as follows Figure 3 As shown;

[0084] The process of obtaining the spatial range of the pipeline abnormal area includes:

[0085] Obtain the three-dimensional spatial position and anomaly type of the anomaly detection point;

[0086] According to the three-dimensional spatial position and anomaly type of the anomaly detection point, the underwater pipeline is clustered and divided to obtain the pipeline anomaly area, and the spatial position of the pipeline anomaly area is obtained as the spatial range.

[0087] The present invention obtains the three-dimensional spatial position and the anomaly type of the abnormal detection point; clusters and divides the underwater pipeline according to the three-dimensional spatial position and the anomaly type of the abnormal detection point to obtain the pipeline abnormal area, obtains the spatial position of the pipeline abnormal area as the spatial range of the pipeline abnormal area; and accurately identifies the abnormal area of ​​the pipeline according to the abnormal situation of the detection point.

[0088] Train based on historical anomaly data to obtain an anomaly recognition model;

[0089] According to the anomaly recognition model, the preset number of detection points, initial positions, collected pipeline parameters, cable parameters, distribution data of underwater pipelines and underwater topography within the spatial range of the pipeline anomaly area are identified to determine the regional anomaly coefficient.

[0090] The training process of the anomaly recognition model is as follows: based on the historical data of pipeline parameters, cable parameters, underwater pipeline distribution data and underwater topography of regional anomalies, the anomaly marking coefficient is determined based on the loss cost and repair cost caused by the regional anomaly; the model is trained based on the historical anomaly data and the corresponding preset number of detection points, initial positions and anomaly marking coefficients to obtain the anomaly recognition model;

[0091] The present invention is trained based on historical anomaly data to obtain an anomaly recognition model. The anomaly recognition model is used to identify the preset number and initial positions of detection points within the spatial range of the pipeline anomaly area, as well as the collected pipeline parameters and cable parameters, to determine the regional anomaly coefficient and accurately measure the degree of anomaly in the pipeline anomaly area.

[0092] The present invention uses GPS-RTK to obtain the three-dimensional spatial positions of preset detection points on underwater pipelines and heating cables, and obtains pipeline parameters and cable parameters through the detection point collection. Then, sonar detection is combined to obtain distribution data of the underwater pipeline and underwater topography. A spatial relationship model between the underwater pipeline and the heating cable is constructed, and the three-dimensional spatial positions of the detection points, pipeline parameters, cable parameters and distribution data of the underwater pipeline are identified. Based on the heat conduction coupling relationship, detection points with abnormal states are identified. Based on the abnormal detection points and three-dimensional spatial positions, combined with the distribution data of the underwater pipeline and underwater topography detected by sonar, the spatial range of the pipeline abnormal area is determined, and the regional abnormality coefficient is identified. The spatial range and regional abnormality coefficient of the pipeline abnormal area are used to accurately locate and identify the heating abnormality of the underwater pipeline.

[0093] Example 2

[0094] The present invention proposes a method for positioning and detecting the outer cable of an underwater oil and gas pipeline based on GPS-RTK, comprising:

[0095] GPS-RTK is used to obtain the three-dimensional spatial positions of preset detection points on underwater pipelines and heating cables. The pipeline parameters and cable parameters are collected through the detection points. Then, sonar detection is combined to obtain the distribution data of underwater pipelines and the bottom topography.

[0096] The pipeline parameters include pipeline surface temperature, first spatial position, first seawater parameter and pipeline operation parameter;

[0097] The pipeline surface temperature is the outer surface temperature of the underwater pipeline; the first spatial position is the three-dimensional spatial position of a preset detection point on the underwater pipeline; the first seawater parameters are the seawater parameters at the first spatial position, including a first seawater flow velocity, a first seawater flow direction, and a first seawater temperature; the pipeline operating parameters include the transport temperature, transport speed, and transport pressure inside the pipeline;

[0098] The cable parameters include cable surface temperature, second spatial position, second seawater parameters and cable operation parameters;

[0099] The cable surface temperature is the temperature of the cable surface; the second spatial position is the three-dimensional spatial position of a preset detection point on the cable surface; the second seawater parameters are the seawater parameters at the second spatial position, including a second seawater flow velocity, a second seawater flow direction, and a second seawater temperature; the cable operating parameters include cable voltage and cable current.

[0100] The present invention uses GPS-RTK technology to obtain the sensor positions on underwater pipelines and heating cables. Combined with the pipeline parameters and cable parameters detected by the sensors, it can perform long-term, all-weather periodic monitoring of pipelines and cables, improve the accuracy of data acquisition and transmission efficiency, and provide a data basis for subsequent anomaly identification.

[0101] The setting method of the detection points and the data collection method are as follows:

[0102] The preset detection points on the underwater pipeline and the heating cable are in corresponding relationship;

[0103] Sensors are set at preset detection points of underwater pipelines and cables; the parameters of the detection points are obtained through the sensors; and the positions of the sensors are obtained as the three-dimensional spatial positions of the detection points based on the detection platform equipped with GPS-RTK.

[0104] The application sets the detection points with corresponding relationship on the underwater pipeline and heating cable, and obtains the parameters of the detection points through the sensor; meanwhile, the position of the sensor is obtained as the three-dimensional space position of the detection point according to the GPS-RTK system; the detection data can be accurately obtained.

[0105] Based on the three-dimensional space position of the detection points on the underwater pipeline and heating cable, a space relationship model between the underwater pipeline and the heating cable is constructed; through the space relationship model, the three-dimensional space position of the detection points, the pipeline parameters, the cable parameters and the distribution data of the underwater pipeline are identified, and according to the heat conduction coupling relationship, the abnormal detection points are identified.

[0106] The space relationship model includes an equipment abnormality identification layer, a position abnormality identification layer and a coupling abnormality identification layer;

[0107] The equipment abnormality identification layer identifies the three-dimensional space position of the collected detection points according to the number and initial position distribution of the preset detection points, and judges the un-identified detection points as the equipment abnormality detection points;

[0108] The position abnormality identification layer identifies the distribution change of the underwater pipeline according to the distribution data of the underwater pipeline; identifies the three-dimensional space position of the detection points on the underwater pipeline and the heating cable according to the distribution change of the underwater pipeline and the seawater parameters of the corresponding detection points, and judges the detection points with position abnormality as the position abnormality detection points; and deletes the pipeline parameters and cable parameters of the position abnormality detection points;

[0109] The coupling abnormality identification layer constructs the coupling relationship between the cable surface temperature and the pipeline surface temperature according to the historical pipeline parameters and the historical cable parameters; identifies the pipeline parameters and cable parameters of the corresponding detection points according to the coupling relationship, obtains the coupling abnormality parameters, and judges the coupling abnormality detection points according to the coupling abnormality parameters.

[0110] The application constructs the space relationship model between the underwater pipeline and the heating cable based on the three-dimensional space position of the detection points on the underwater pipeline and the heating cable; identifies the parameters collected by the detection points on the underwater pipeline and the heating cable, obtains the equipment abnormality detection points, the position abnormality detection points and the coupling abnormality detection points; and according to the data processing between different abnormality identifications, the abnormal conditions at the detection points can be accurately identified.

[0111] The coupling relationship includes a direct coupling relationship and an indirect coupling relationship;

[0112] The direct coupling relationship identifies the influence of the heating cable surface temperature on the sensor of the corresponding detection point on the underwater pipeline according to the cable surface temperature, the first space position, the first seawater parameter, the second space position and the second seawater parameter;

[0113] The indirect coupling relationship identifies the effect of the heating cable surface temperature on the underwater pipeline surface temperature based on the cable surface temperature, the first spatial position, the first seawater parameter, the pipeline operating parameter, the second spatial position, and the second seawater parameter;

[0114] The predicted pipeline temperature is obtained according to the direct coupling relationship and the indirect coupling relationship; and the coupling anomaly parameter is determined according to the data difference between the predicted pipeline temperature and the pipeline surface temperature.

[0115] The present invention identifies the influence of the surface temperature of the heating cable on the sensor of the corresponding detection point on the underwater pipeline as a direct coupling relationship; identifies the influence of the surface temperature of the heating cable on the surface temperature of the underwater pipeline as an indirect coupling relationship; accurately identifies the coupling relationship of the temperature data between the corresponding detection points based on the direct coupling relationship and the indirect coupling relationship, and accurately identifies and locates the detection point with coupling anomaly.

[0116] Based on the identified abnormal detection points and three-dimensional spatial positions, combined with the distribution data of underwater pipelines and underwater topography detected by sonar, the spatial scope of the pipeline abnormal area is determined and the regional abnormality coefficient is identified.

[0117] The process of obtaining the spatial range of the pipeline abnormal area includes:

[0118] Obtain the three-dimensional spatial position and anomaly type of the anomaly detection point;

[0119] According to the three-dimensional spatial position and anomaly type of the anomaly detection point, the underwater pipeline is clustered and divided to obtain the pipeline anomaly area, and the spatial position of the pipeline anomaly area is obtained as the spatial range.

[0120] The present invention obtains the three-dimensional spatial position and the anomaly type of the abnormal detection point; clusters and divides the underwater pipeline according to the three-dimensional spatial position and the anomaly type of the abnormal detection point to obtain the pipeline abnormal area, obtains the spatial position of the pipeline abnormal area as the spatial range of the pipeline abnormal area; and accurately identifies the abnormal area of ​​the pipeline according to the abnormal situation of the detection point.

[0121] Train based on historical anomaly data to obtain an anomaly recognition model;

[0122] According to the anomaly recognition model, the preset number of detection points, initial positions, collected pipeline parameters, cable parameters, distribution data of underwater pipelines and underwater topography within the spatial range of the pipeline anomaly area are identified to determine the regional anomaly coefficient.

[0123] The present invention is trained based on historical anomaly data to obtain an anomaly recognition model. The anomaly recognition model is used to identify the preset number and initial positions of detection points within the spatial range of the pipeline anomaly area, as well as the collected pipeline parameters and cable parameters, to determine the regional anomaly coefficient and accurately measure the degree of anomaly in the pipeline anomaly area.

[0124] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A method for positioning and detecting the outer cable of an underwater oil and gas pipeline based on GPS-RTK, characterized in that: include: Use GPS-RTK to obtain the 3D spatial positions of preset detection points on underwater pipelines and heating cables, and obtain pipeline and cable parameters through the detection point collection; Combined with sonar detection, the distribution data of underwater pipelines and underwater topography are obtained; Based on the three-dimensional spatial position of the detection points on the underwater pipeline and heating cable, a spatial relationship model between the underwater pipeline and the heating cable is constructed. Through the spatial relationship model, the three-dimensional spatial position of the detection point, pipeline parameters, cable parameters and underwater pipeline distribution data are identified, and abnormal detection points are identified based on the heat conduction coupling relationship. Based on the identified abnormal detection points and three-dimensional spatial positions, combined with the distribution data of underwater pipelines and underwater topography detected by sonar, the spatial scope of the pipeline abnormal area is determined and the regional abnormality coefficient is identified.

2. The method for positioning and detecting the outer cable of an underwater oil and gas pipeline based on GPS-RTK according to claim 1, characterized in that: The pipeline parameters include pipeline surface temperature, first spatial position, first seawater parameter and pipeline operation parameter; The pipeline surface temperature is the outer surface temperature of the underwater pipeline; the first spatial position is the three-dimensional spatial position of a preset detection point on the underwater pipeline; the first seawater parameters are seawater parameters at the first spatial position, including a first seawater flow velocity, a first seawater flow direction, and a first seawater temperature; the pipeline operation parameters include the transport temperature, transport speed, and transport pressure inside the pipeline; The cable parameters include cable surface temperature, second spatial position, second seawater parameters and cable operation parameters; The cable surface temperature is the temperature of the cable surface; the second spatial position is the three-dimensional spatial position of a preset detection point on the cable surface; the second seawater parameters are the seawater parameters at the second spatial position, including a second seawater flow velocity, a second seawater flow direction, and a second seawater temperature; the cable operating parameters include cable voltage and cable current.

3. The method for positioning and detecting the outer cable of an underwater oil and gas pipeline based on GPS-RTK according to claim 1, characterized in that: The setting method of the detection points and the data collection method are as follows: The preset detection points on the underwater pipeline and the heating cable are in corresponding relationship; Sensors are set at preset detection points of underwater pipelines and cables; the parameters of the detection points are obtained through the sensors; and the positions of the sensors are obtained as the three-dimensional spatial positions of the detection points based on the detection platform equipped with GPS-RTK.

4. The method for positioning and detecting the outer cable of an underwater oil and gas pipeline based on GPS-RTK according to claim 1, characterized in that: The spatial relationship model includes a device anomaly identification layer, a position anomaly identification layer and a coupling anomaly identification layer; The device anomaly identification layer identifies the three-dimensional spatial positions of the collected detection points based on the number and initial position distribution of the preset detection points, and determines the unidentified detection points as device anomaly detection points; The position anomaly identification layer identifies the three-dimensional spatial positions of the detection points on the underwater pipeline and the detection points on the heating cable based on the changes in the underwater pipeline distribution data and the seawater parameters of the corresponding detection points, and determines the detection points with position anomalies as position anomaly detection points; and deletes the pipeline parameters and cable parameters of the position anomaly detection points; The coupling anomaly identification layer constructs a coupling relationship between the cable surface temperature and the pipeline surface temperature based on historical pipeline parameters and historical cable parameters; identifies the pipeline parameters and cable parameters of the corresponding detection points based on the coupling relationship to obtain coupling anomaly parameters; and determines the coupling anomaly detection point based on the coupling anomaly parameters.

5. The method for positioning and detecting the outer cable of an underwater oil and gas pipeline based on GPS-RTK according to claim 4, characterized in that: The coupling relationship includes a direct coupling relationship and an indirect coupling relationship; The direct coupling relationship identifies the effect of the heating cable surface temperature on the corresponding detection point sensor on the underwater pipeline based on the cable surface temperature, the first spatial position, the first seawater parameter, the second spatial position, and the second seawater parameter; The indirect coupling relationship identifies the effect of the heating cable surface temperature on the underwater pipeline surface temperature based on the cable surface temperature, the first spatial position, the first seawater parameter, the pipeline operating parameter, the second spatial position, and the second seawater parameter; The predicted pipeline temperature is obtained according to the direct coupling relationship and the indirect coupling relationship; and the coupling anomaly parameter is determined according to the data difference between the predicted pipeline temperature and the pipeline surface temperature.

6. The method for positioning and detecting the outer cable of an underwater oil and gas pipeline based on GPS-RTK according to claim 1, characterized in that: The process of obtaining the spatial range of the pipeline abnormal area includes: Obtain the three-dimensional spatial position and anomaly type of the anomaly detection point; According to the three-dimensional spatial position and anomaly type of the anomaly detection point, the underwater pipeline is clustered and divided to obtain the pipeline anomaly area, and the spatial position of the pipeline anomaly area is obtained as the spatial range.

7. The method for positioning and detecting the outer cable of an underwater oil and gas pipeline based on GPS-RTK according to claim 1, characterized in that: Train based on historical anomaly data to obtain an anomaly recognition model; According to the anomaly recognition model, the preset number of detection points, initial positions, collected pipeline parameters, cable parameters, distribution data of underwater pipelines and underwater topography within the spatial range of the pipeline anomaly area are identified to determine the regional anomaly coefficient.

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