Study, Based On The Principle Of Integrated Navigation Positioning Technology Of Oil And Gas Pipeline Internal Defects

With the development of oil and gas pipeline industry, pipeline operators face a series of security issues and systematic management problems, such as the increasing number and service time of pipelines. On-line detection is very important for the pipeline safety management and its importance is increasing gradually. It brings a tremendous challenge, so constant technical innovations are required that can improve the detection level. Pipeline inspection includes external testing and internal testing, while internal inspection is more important, which has two styles, one is the detection of defects with type, size and other attribute information, and the other is the specific location of detected flaws, which belongs to spatial information. The paper mainly studied the second issue, based on the research status and system simulation and error analysis, and proposed the application of integrated navigation technology on the location of oil and gas pipelines defects.First, this paper briefly introduced the significance of research and the research status at home and abroad in pipeline detection and location, then analyzed and summarized the principle and operating method of major equipments used in the pipeline positioning. It derived a SINS mathematical model according to the characteristic of detector in the pipe, and designed the track generator and device simulation model based on the simulation demand. In order to verify the accuracy of navigation algorithm and evaluate the accuracy of positioning the situation, this paper wrote simulation model and positioning algorithm into the executable program with MATLAB7.0 software, and obtained the simulated position, velocity, and attitude information, and the algorithm error of system was got through comparing with the simulation trajectory generator. To further examine the feasibility of the SINS which is used to detect and locate pipeline, much analysis on the SINS error that considers the initial error, device error and accumulated error was carried out. The error characteristic and cumulative rule were analyzed by programming, and the analysis result indicated that the pure SINS positioning accuracy can not meet the actual engineering requirements for pipeline detection and location. Based on the current features and requirements of pipeline detection and location and navigation comparison result, it proposed an integrated navigation method including mileage meter and SINS, and considered that indirect Kalman filtering technique is a very good data processing method for integrated system. On the analysis of integrated navigation system error, a consensus that the integrated navigation accurate is very high was come up with, and the engineering requirements aided by the ground markers were met. The impacts from the external environments such as temperature and magnetic field interference were not taken into account, which need to be researched and practiced further in the future.The study was on the application of SINS to locate the defects of oil and gas pipelines, the related research of which has not been carried out domestically, and obtained error-related conclusions after making an integrate navigation experimental analysis of pipeline inspection. Although some results of this study still need a lot of tests and calibration in practice, it is a useful experiment to improve the accuracy of internal defects positioning.