A positioning detection method for underwater oil and gas pipeline outer cable based on GPS-RTK

Abstract

The application relates to the technical field of underwater positioning, in particular to a positioning and detection method for underwater oil and gas pipeline outer cables based on GPS-RTK; three-dimensional space positions of preset detection points on an underwater pipeline and a heating cable are acquired, pipeline parameters and cable parameters are acquired through the detection points; distribution data of the underwater pipeline and seabed topography are acquired in combination with sonar detection; a space relation 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, and according to a heat conduction coupling relation, the detection points with abnormal states are identified; according to the abnormal detection points and the three-dimensional space positions, in combination with the distribution data of the underwater pipeline and the seabed topography acquired through the sonar detection, the spatial range of a pipeline abnormal area is determined, and a regional abnormality coefficient is identified. The spatial range of the pipeline abnormal area and the regional abnormality coefficient are used for accurately positioning and identifying heating abnormalities of the underwater 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] construct a spatial relationship model between the underwater pipeline and the heating cable based on three-dimensional spatial positions of detection points on the underwater pipeline and the heating cable; identify an abnormal detection point according to a heat conduction coupling relationship through the spatial relationship model, the three-dimensional spatial position of the detection point, pipeline parameters, cable parameters and distribution data of the underwater pipeline;

[0009] determine a spatial range of a pipeline abnormal area according to the identified abnormal detection point and the three-dimensional spatial position, in combination with distribution data of the underwater pipeline detected by the sonar and a seabed topography, and identify a regional abnormal coefficient.

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

[0011] The pipeline surface temperature is an outer surface temperature of the underwater pipeline; the first spatial position is a 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 rate, a first seawater flow direction and a first seawater temperature; and the pipeline operation parameters include a transportation temperature, a transportation speed and a transportation pressure inside the pipeline.

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

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

[0014] The detection points are arranged in a manner and collected in a manner as follows:

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

[0016] A sensor is arranged at the preset detection point of the underwater pipeline and the cable; the sensor is used to acquire parameters of the detection point; and a position of the sensor is acquired by a detection platform carrying a GPS-RTK as a three-dimensional spatial position of the detection point.

[0017] The spatial relationship model includes an equipment abnormality identification layer, a position abnormality identification layer and a coupling abnormality identification layer.

[0018] The equipment abnormality identification layer identifies three-dimensional spatial positions of the collected detection points according to a number and an initial position distribution of the preset detection points, and judges an unidentified detection point as an equipment abnormal detection point.

[0019] The position anomaly identification layer identifies the three-dimensional spatial positions of the detection points on the underwater pipeline and the heating cable according to the changes of the underwater pipeline distribution data and the seawater parameters of the corresponding detection points, judges 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 according to the historical pipeline parameters and the historical cable parameters, identifies the pipeline parameters and the cable parameters of the corresponding detection points according to the coupling relationship, obtains coupling anomaly parameters, and judges the coupling anomaly detection points according to 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 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 spatial position, the first seawater parameter, the second spatial position and the second seawater parameter.

[0023] The indirect coupling relationship identifies the influence of the heating cable surface temperature on the underwater pipeline surface temperature according to the cable surface temperature, the first spatial position, the first seawater parameter, the pipeline operation 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 parameters are determined according to the data difference degree between the predicted pipeline temperature and the pipeline surface temperature.

[0025] The spatial range acquisition process of the pipeline anomaly region includes:

[0026] The three-dimensional spatial position and the anomaly type of the anomaly detection point are acquired.

[0027] The underwater pipeline is clustered and divided according to the three-dimensional spatial position and the anomaly type of the anomaly detection point, the pipeline anomaly region is obtained, and the spatial position where the pipeline anomaly region is located is acquired as the spatial range.

[0028] The anomaly recognition model is obtained by training according to the historical anomaly data.

[0029] The anomaly recognition model is used to identify the detection points in the spatial range of the pipeline anomaly region, the preset number, the initial position, the acquired pipeline parameters and cable parameters, the distribution data of the underwater pipeline and the underwater topography, and the regional anomaly coefficient is judged.

[0030] Compared with the prior art, the present application has the following advantages:

[0031] 1. The application is based on the three-dimensional spatial position of the detection points on the underwater pipeline and heating cable, constructs the spatial relationship model between 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 abnormal detection points, position abnormal detection points and coupling abnormal detection points, and according to the data processing between different abnormal recognitions, the abnormal conditions at the detection points can be accurately identified.

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

[0033] 3. The application obtains the three-dimensional spatial position and abnormal type of the abnormal detection points, clusters and divides the underwater pipeline according to the three-dimensional spatial position and abnormal type of the abnormal detection points, obtains the pipeline abnormal area, obtains the spatial position of the pipeline abnormal area as the spatial range, identifies the preset number, initial position and collected pipeline parameters and cable parameters of the detection points in the pipeline abnormal area spatial range, judges the area abnormal coefficient, and accurately identifies the abnormal area and abnormal degree of the pipeline according to the abnormal conditions of the detection points. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 It is a flowchart of a positioning detection method for an underwater oil and gas pipeline outer cable based on GPS-RTK.

[0035] Figure 2 It is a structural schematic diagram of the spatial relationship model of the application.

[0036] Figure 3 It is a flowchart of obtaining the area abnormal coefficient of the application. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the application will be described clearly and completely in the embodiments of the application combined with the drawings, obviously, the described embodiments are only part of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the application.

[0038] Embodiment one

[0039] The application provides a positioning detection method for an underwater oil and gas pipeline outer cable based on GPS-RTK, and the flowchart is as shown in Figure 1 The positioning detection method comprises the following steps.

[0040] The three-dimensional space positions of the preset detection points on the underwater pipeline and the heating cable are acquired by using GPS-RTK, and the pipeline parameters and the cable parameters are acquired by the detection points; and the distribution data of the underwater pipeline and the underwater topography are acquired by combining the sonar detection.

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

[0042] The pipeline surface temperature is the outer surface temperature of the underwater pipeline; the first space position is the three-dimensional space position of the preset detection point on the underwater pipeline; the first seawater parameters are the seawater parameters at the first space position, including a first seawater flow rate, a first seawater flow direction and a first seawater temperature; and the pipeline operation parameters include a pipeline internal transportation temperature, a pipeline internal transportation speed and a pipeline internal transportation pressure; wherein the pipeline operation parameters are acquired from a pipeline monitoring and data acquisition system and are calculated.

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

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

[0045] The underwater pipeline and the heating cable are periodically monitored for a long time and all-weather by acquiring the sensor positions on the underwater pipeline and the heating cable by using the GPS-RTK technology and by combining the pipeline parameters and the cable parameters detected by the sensors, so as to improve the data acquisition accuracy and transmission efficiency and to provide a data basis for subsequent anomaly identification.

[0046] The setting mode and the data acquisition mode of the detection points are as follows:

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

[0048] The sensors are arranged at the preset detection points of the underwater pipeline and the cable; the parameters of the detection points are acquired by the sensors; and the positions of the sensors are acquired by the GPS-RTK system as the three-dimensional space positions of the detection points.

[0049] The GPS-RTK (real-time dynamic differential positioning) can provide centimeter-level positioning accuracy under ideal conditions, but it cannot be directly used for underwater sensor positioning because its signal cannot penetrate water. However, the position of the underwater sensor can be indirectly acquired by combining a water surface auxiliary device and underwater positioning technology.

[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 abnormal states 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 abnormalities as position abnormality detection points, and deletes the pipeline parameters and the cable parameters of the position abnormality detection points.

[0057] ​The first detection point is a detection point arranged on the underwater pipeline; the second detection point is a detection point arranged on the heating cable; the corresponding relationship is that the arrangement positions of the first detection point and the second detection point have a corresponding relationship; in the actual detection point and sensor arrangement process, the closer the distance between the first detection point and the second detection point, the higher the data correlation, 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 arrange the first detection point and the second detection point at the same position; therefore, the first detection point and the second detection point are arranged as close as possible, and the distance therebetween is determined according to the direct interference of the heating cable on the first detection point and the coupling relationship accuracy between the corresponding detection points.

[0058] That is, when the first detection point and the second detection point are too close, the surface temperature of the heating cable will directly affect the temperature sensor on the underwater pipeline, thereby causing the pipeline surface temperature data obtained to be inaccurate; when the first detection point and the second detection point are too far apart, the correlation between the coupling relationship between the collected cable parameters and the pipeline parameters is low, and the heat conduction path is difficult to identify; therefore, from the spatial relationship model identification accuracy, the positions and distances of the corresponding detection points are determined comprehensively according to the above two factors.

[0059] The coupling anomaly 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 the cable parameters of the corresponding detection points according to the coupling relationship to obtain coupling anomaly parameters; and judges the coupling anomaly detection points according to the coupling anomaly parameters.

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

[0061] The equipment anomaly is that the performance of the sensor is abnormal, including that the three-dimensional spatial position of the sensor cannot be identified and the sensor cannot collect the pipeline cable parameters;

[0062] The position anomaly is that the position of the sensor is abnormal, including first detection point position anomaly, second detection point position anomaly and corresponding detection point position relationship anomaly;

[0063] The position relationship anomaly of the corresponding detection points is that the positions of the corresponding first detection point and the second detection point have a corresponding anomaly, that is, the distance between the positions exceeds a preset range; the distance between the first spatial position and the second spatial position and the anomaly of the first seawater parameter and the second seawater parameter are jointly determined;

[0064] When the positions of the first detection points and the second detection points are farther apart, the differences in the seawater parameters of the corresponding positions also change, so that the positional abnormalities between the detection points can be accurately identified.

[0065] The first detection point positional abnormality is determined according to the positional changes between the first detection points, the changes in the seawater parameters obtained by the first detection points, and the positional relationship abnormality of the corresponding detection points.

[0066] The second detection point positional abnormality is determined according to the positional changes between the second detection points, the changes in the seawater parameters obtained by the second detection points, and the positional relationship abnormality of the corresponding detection points.

[0067] The coupling abnormality is an abnormal change in the temperature radiation influence of the heating cable on the surface of the pipeline, and a heat conduction relationship of the heating cable on the surface temperature of the pipeline is constructed by the pipeline parameters and the cable parameters as the coupling relationship, which is associated with the spatial distance, the seawater environment and the pipeline operation condition.

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

[0069] Table 1: Detection point abnormality type data table

[0070]

[0071] The three detection point abnormality types divided by the present application are related to each other and influence each other. The equipment abnormality is the first to be identified and judged. When at least one of the three-dimensional spatial position of the detection point and the sensor detection parameter is missing, it is determined as an equipment abnormality. On the basis of the equipment abnormality determination, the positional abnormality is judged to identify the detection points with positional abnormalities, and the sensor is in a falling-off state. On the basis of the positional abnormality identification, the coupling relationship is identified according to the collected pipeline parameters and cable parameters, and the coupling abnormality is judged, so that the abnormality of the detection point can be identified.

[0072] The present application is based on the three-dimensional spatial position of the detection points on the underwater pipeline and the heating cable, constructs a spatial relationship model between 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 point, the positional abnormality detection point and the coupling abnormality detection point, and according to the data processing between different abnormality recognitions, the abnormality of the detection point can be accurately identified.

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

[0074] 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 spatial position, the first seawater parameter, the second spatial position and the second seawater parameter.

[0075] The indirect coupling relationship identifies the influence of the heating cable surface temperature on the underwater pipeline surface temperature according to the cable surface temperature, the first spatial position, the first seawater parameter, the pipeline operation 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 abnormal parameter is determined according to the data difference degree of the predicted pipeline temperature and the pipeline surface temperature.

[0077] When the detection points are set, in order to accurately understand the heating condition of the cable on the underwater pipeline at the same position, the detection points on the underwater pipeline and the heating cable are correspondingly set, so that the positions of the corresponding detection points are close enough.

[0078] When the positions of the corresponding detection points are close enough, in the process of detecting the surface temperature of the underwater pipeline detection point by the sensor, the sensor is at least affected by the underwater pipeline surface temperature, the seawater environment and the cable surface temperature, so that the direct coupling relationship and the indirect coupling relationship are proposed in order to accurately identify and detect the coupling relationship between the parameters of the corresponding detection points.

[0079] The heat conduction path of the direct coupling relationship is "heating cable-underwater pipeline sensor (seawater environment)", and the heat conduction path of the indirect coupling relationship is "heating cable-underwater pipeline-underwater pipeline sensor (seawater environment)", so that the coupling relationship is accurately identified.

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

[0081] The influence of the heating cable surface temperature on the corresponding detection point sensor on the underwater pipeline is identified as the direct coupling relationship, and the influence of the heating cable surface temperature on the underwater pipeline surface temperature is identified as the indirect coupling relationship, so that the coupling relationship between the temperature data of the corresponding detection points is accurately identified according to the direct coupling relationship and the indirect coupling relationship, and the detection points with coupling abnormities are accurately identified and positioned.

[0082] According to the identified abnormal detection points and the three-dimensional spatial position, the distribution data of the underwater pipeline and the underwater topography detected by the sonar are combined to determine the spatial range of the pipeline abnormal area and identify the area abnormality coefficient.

[0083] The identification process of the area abnormality coefficient is as shown in Figure 3

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

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

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

[0087] The application acquires the three-dimensional spatial position and the anomaly type of the anomaly detection point; according to the three-dimensional spatial position and the anomaly type of the anomaly detection point, the underwater pipeline is clustered and divided to obtain a pipeline anomaly area, and the spatial position where the pipeline anomaly area is located is acquired as a spatial range; the anomaly area of the pipeline is accurately identified according to the anomaly condition of the detection point.

[0088] According to historical anomaly data, an anomaly recognition model is obtained through training;

[0089] According to the anomaly recognition model, the detection points in the spatial range of the pipeline anomaly area, the initial position, the acquired pipeline parameters, the cable parameters, the distribution data of the underwater pipeline and the underwater topography are identified to determine the regional anomaly coefficient.

[0090] The training process of the anomaly recognition model is as follows: the pipeline parameters, the cable parameters and the distribution data of the underwater pipeline and the underwater topography in the historical data where the regional anomaly condition exists are used as historical anomaly data; the anomaly marking coefficient is determined according to the loss cost and the repair cost caused by the regional anomaly condition; the historical anomaly data, the preset number of detection points, the initial position and the anomaly marking coefficient are used for model training to obtain the anomaly recognition model;

[0091] The application trains according to historical anomaly data to obtain an anomaly recognition model; according to the anomaly recognition model, the preset number of detection points, the initial position and the acquired pipeline parameters and cable parameters of the detection points in the spatial range of the pipeline anomaly area are identified to determine the regional anomaly coefficient, and the anomaly degree of the pipeline anomaly area is accurately measured.

[0092] The application acquires the three-dimensional spatial position of the preset detection points on the underwater pipeline and the heating cable by using GPS-RTK, and acquires the pipeline parameters and the cable parameters by the detection points; then, the distribution data of the underwater pipeline and the underwater topography are acquired by combining the sonar detection; a spatial relationship model between the underwater pipeline and the heating cable is constructed, the three-dimensional spatial position of the detection points, the pipeline parameters, the cable parameters and the distribution data of the underwater pipeline are identified, the detection points with state anomalies are identified according to the heat conduction coupling relationship; according to the anomaly detection points and the three-dimensional spatial position, the distribution data of the underwater pipeline and the underwater topography acquired by the sonar detection are combined to determine the spatial range of the pipeline anomaly area and identify the regional anomaly coefficient; the heating anomaly of the underwater pipeline is accurately positioned and identified through the spatial range of the pipeline anomaly area and the regional anomaly coefficient.

[0093] Embodiment two

[0094] The application provides a positioning detection method for an underwater oil and gas pipeline outer cable based on GPS-RTK, comprising the following steps:

[0095] The GPS-RTK is used to obtain the three-dimensional space positions of preset detection points on the underwater pipeline and the heating cable, and the pipeline parameters and the cable parameters are collected through the detection points; and the distribution data of the underwater pipeline and the underwater topography are obtained by combining the sonar detection.

[0096] The pipeline parameters comprise a pipeline surface temperature, a first space position, first seawater parameters and pipeline operation parameters;

[0097] The pipeline surface temperature is the outer surface temperature of the underwater pipeline; the first space position is the three-dimensional space position of the preset detection point on the underwater pipeline; the first seawater parameters are the seawater parameters at the first space position, and comprise a first seawater flow rate, a first seawater flow direction and a first seawater temperature; and the pipeline operation parameters comprise a transportation temperature, a transportation speed and a transportation pressure in the pipeline.

[0098] The cable parameters comprise a cable surface temperature, a second space position, second seawater parameters and cable operation parameters;

[0099] The cable surface temperature is the temperature of the cable surface; the second space position is the three-dimensional space position of the preset detection point on the cable surface; the second seawater parameters are the seawater parameters at the second space position, and comprise a second seawater flow rate, a second seawater flow direction and a second seawater temperature; and the cable operation parameters comprise a cable voltage and a cable current.

[0100] The application obtains the sensor positions on the underwater pipeline and the heating cable through the GPS-RTK technology, and then combines the pipeline parameters and the cable parameters detected by the sensors to perform long-term, all-weather and periodic monitoring on the pipeline and the cable, improves the data acquisition accuracy and transmission efficiency, and provides a data basis for subsequent anomaly identification.

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

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

[0103] Sensors are arranged at the preset detection points of the underwater pipeline and the cable; the parameters of the detection points are obtained through the sensors; and the positions of the sensors are obtained as the three-dimensional space positions of the detection points according to the detection platform carrying the 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 influence of the heating cable surface temperature on the underwater pipeline surface temperature according to the cable surface temperature, the first spatial position, the first seawater parameter, the pipeline operation parameter, the second spatial position and the second seawater parameter.

[0114] The predicted pipeline temperature is predicted according to the direct coupling relationship and the indirect coupling relationship; and the coupling abnormal parameter is determined according to the data difference degree of the predicted pipeline temperature and the pipeline surface temperature.

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

[0116] According to the identified abnormal probe points and the three-dimensional spatial position, the distribution data of the underwater pipeline and the underwater topography detected by the sonar are combined to determine the spatial range of the pipeline abnormal area and identify the area abnormal coefficient.

[0117] The spatial range acquisition process of the pipeline abnormal area comprises:

[0118] The three-dimensional spatial position and the abnormal type of the abnormal probe points are acquired.

[0119] The underwater pipeline is clustered and divided according to the three-dimensional spatial position and the abnormal type of the abnormal probe points, the pipeline abnormal area is obtained, and the spatial position where the pipeline abnormal area is located is acquired as the spatial range.

[0120] The present application acquires the three-dimensional spatial position and the abnormal type of the abnormal probe points; clusters and divides the underwater pipeline according to the three-dimensional spatial position and the abnormal type of the abnormal probe points, obtains the pipeline abnormal area, and acquires the spatial position where the pipeline abnormal area is located as the spatial range of the pipeline abnormal area; accurately identifies the abnormal area of the pipeline according to the abnormal conditions of the probe points.

[0121] The abnormal recognition model is obtained by training the historical abnormal data;

[0122] The probe points in the spatial range of the pipeline abnormal area, the initial position, the acquired pipeline parameters, the cable parameters, the distribution data of the underwater pipeline and the underwater topography are identified according to the abnormal recognition model, and the area abnormal coefficient is judged.

[0123] The application trains according to historical abnormal data to obtain an abnormality recognition model; and according to the abnormality recognition model, a preset number of detection points, initial positions, and collected pipeline parameters and cable parameters in a spatial range of a pipeline abnormal area are recognized to judge a regional abnormality coefficient and accurately measure an abnormality degree of the pipeline abnormal area.

[0124] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications, changes, omissions, substitutions, and equivalents can be made by one of ordinary skill in the art without departing from the spirit and scope of the application, which is defined by the following claims and their equivalents.

Claims

1. A method for positioning and detecting an underwater oil and gas pipeline external cable based on GPS-RTK, characterized in that, The method comprises the following steps: acquiring the three-dimensional spatial positions of the preset detection points on the underwater pipeline and the heating cable by using GPS-RTK, collecting pipeline parameters and cable parameters at the detection points; obtaining the distribution data of the underwater pipeline and the underwater topography by sonar detection; constructing 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, identifying the three-dimensional spatial positions of the detection points, the pipeline parameters, the cable parameters and the distribution data of the underwater pipeline through the spatial relationship model, and identifying abnormal detection points according to the heat conduction coupling relationship; determining the spatial range of the pipeline abnormal area and identifying the regional abnormal coefficient according to the identified abnormal detection points and the three-dimensional spatial positions, and combining the distribution data of the underwater pipeline and the underwater topography obtained by the sonar detection.

2. The positioning and detection method of the underwater oil and gas pipeline outer cable based on GPS-RTK according to claim 1, wherein: 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 the preset detection point on the underwater pipeline; the first seawater parameter is the seawater parameter at the first spatial position, including first seawater flow rate, first seawater flow direction and first seawater temperature; and the pipeline operation parameter includes the transportation temperature, transportation speed and transportation pressure in the pipeline; the cable parameters include cable surface temperature, second spatial position, second seawater parameter and cable operation parameter; the cable surface temperature is the temperature of the cable surface; the second spatial position is the three-dimensional spatial position of the preset detection point on the cable surface; the second seawater parameter is the seawater parameter at the second spatial position, including second seawater flow rate, second seawater flow direction and second seawater temperature; and the cable operation parameter includes cable voltage and cable current.

3. The positioning and detection method of the underwater oil and gas pipeline outer cable based on GPS-RTK according to claim 1, wherein: the setting mode and the data collection mode of the detection points are as follows: the preset detection points on the underwater pipeline and the heating cable are in a corresponding relationship; sensors are arranged at the preset detection points of the underwater pipeline and the cable; the parameters of the detection points are acquired by the sensors; and the positions of the sensors are acquired by the detection platform equipped with GPS-RTK as the three-dimensional spatial positions of the detection points.

4. The positioning and detection method of the underwater oil and gas pipeline outer cable based on GPS-RTK according to claim 1, wherein: the spatial relationship model comprises an equipment abnormality identification layer, a position abnormality identification layer and a coupling abnormality identification layer; the equipment abnormality identification layer identifies the three-dimensional spatial positions of the collected detection points according to the number and initial position distribution of the preset detection points, and judges the unidentified detection points as equipment abnormal detection points. The position anomaly identification layer identifies the three-dimensional spatial positions of the detection points on the underwater pipeline and the heating cable according to the changes in the underwater pipeline distribution data and the seawater parameters of the corresponding detection points, and judges 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 according to the historical pipeline parameters and the historical cable parameters; identifies the pipeline parameters and the cable parameters of the corresponding detection points according to the coupling relationship to obtain coupling anomaly parameters; and judges the coupling anomaly detection points according to the coupling anomaly parameters.

5. The positioning detection method of the underwater oil and gas pipeline outer cable 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 influence of the heating cable surface temperature on the sensors of the corresponding detection points on the underwater pipeline according to 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 influence of the heating cable surface temperature on the underwater pipeline surface temperature according to the cable surface temperature, the first spatial position, the first seawater parameter, the pipeline operation 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 parameters are determined according to the data difference between the predicted pipeline temperature and the pipeline surface temperature.

6. The positioning detection method of the underwater oil and gas pipeline outer cable based on GPS-RTK according to claim 1, characterized in that: The spatial range acquisition process of the pipeline anomaly area includes: Acquiring the three-dimensional spatial position and the anomaly type of the anomaly detection points; According to the three-dimensional spatial position and the anomaly type of the anomaly detection points, the underwater pipeline is clustered and divided to obtain the pipeline anomaly area, and the spatial position where the pipeline anomaly area is located is obtained as the spatial range.

7. The positioning detection method of the underwater oil and gas pipeline outer cable based on GPS-RTK according to claim 1, characterized in that: The anomaly recognition model is obtained by training the historical anomaly data; The anomaly recognition model is used to identify the preset number of detection points, the initial position, the acquired pipeline parameters and cable parameters, the distribution data of the underwater pipeline and the underwater topography in the spatial range of the pipeline anomaly area, and the regional anomaly coefficient is judged.

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