The Inertial Navigation And Positioning Technique Of Inner Detector For Pipeline

The foundation of industrial energy are oil and gas, they rely on long distance pipeline to transport. Transportation environmental safety related to the safe of national energy, so the daily inspection maintenance is very necessary. In order to maintain security of natural environment and property of people, pipe nondestructive testing techniques flourished. Especially pipe inner detector that based on the principle of magnetic flux leakage is outshine others, it uses the pipe online detection to access the defects information such as corrosion, crack and so on, and then by detailed analysis and using the corresponding remedial measures in order to make the accurate orientation of dangerous sections on pipe in advance and maintenance, so that the safe operation of the pipeline will be put on a better level. In measurement technique, it is an important development direction of intelligence inner detector for qipeline. The inertial component constitutes system of navigation and positioning, which assistant inner detector for pipeline to finish testing. then more and more testing messages of pipe are provided for digital management systems of pipe. Because the navigation and positioning messages achieve exactly positioning for pipe, it reduces the resource-wasting for dapartment and does a bit to build economic society of country.After the pipe inner detector complete the online detecting, when repair the defect area, not only rely on the distance that the pipe mileage round in the detector measured and the benchmarking reference points, but also need more complete and accurate location information. This article through the use of inertial components and mileage round to build inertial navigation positioning system, acquisition navigation and positioning information in the pipeline detection process, and use strapdown navigation algorithm analysis to get state and location information of the pipe inner detector when it running in the pipeline. Through the kalman filter method fixed the error that the inertial components produced and reduce the influence that the noise error makes on the system data precision analysis. Together with the application of navigation and positioning system model experimental study in different conditions environment, ensure that the accuracy and scientific of the conclusion. This can provide more pipeline safety information and identify the track changes and geographic coordinate changes of pipe inner detector model. Navigation and positioning information processing has the vital significance to the nondestructive testing, and provide important reference value for the practical application in engineering.The hardware structure, theory research, experiment analysis and the software programming algorithm, this four parts construct the complete system of pipe inner detector inertial navigation positioning system. Analyzed the future application value of the navigation and positioning system on the pipe inside detector, improve the study method on the pipe inner inspection positioning.