Research On The Location Method Of Pipeline Detection Geographic Coordinate Based On Inertial Navigation Technology

As an important carrier of energy transportation,pipeline is widely used in the transportation of oil and natural gas.In the process of pipeline operation,due to the impact of material transportation,natural environment and human factors,there will be corrosion,cracks and other defects.Regular pipeline inspection and integrity management are conducive to ensuring the safe operation of the pipeline and preventing serious accidents.The geographic coordinate positioning of pipeline detection based on inertial navigation technology can be carried out at the same time with the pipeline internal detection or pipeline pigging.The geographic coordinate positioning information of the whole pipeline can be measured,and the precise positioning of pipeline defects and feature can be realized by combining the detection results of the pipeline defect detection system.In the measurement data output from the inertial navigation system,not only the trajectory of the whole pipeline can be calculated,but also every detail of the change of the detector's running state in the whole pipeline detection process is recorded,which contains a lot of potential pipeline feature information to be further mined.In this paper,the basic theory of inertial navigation technology,the principle and related algorithm of pipeline trajectory solution based on strapdown inertial navigation technology are studied,and the location error of geographic coordinate is corrected by means of subsection solution.On this basis,the inertial navigation technology is used to locate pipe elbows and pipe welds independently and calculate relevant parameters.By studying the characteristics of pipe elbow and pipe weld,the solution model of characteristic parameters is established;by using the output information of inertial measuring unit and odometer,the location method of pipe elbows and pipe welds is studied;the three-dimensional space angle synthesis algorithm is derived and the calculation methods of pipe elbow angle,curvature radius and curvature are given;the attitude calculation algorithm at the beginning of pipe elbow and the extraction method of pipe elbow direction are studied.According to the actual needs of the project,the potential value of pipeline characteristic points location is excavated and the matching scheme of characteristic points is given.On the MATLAB platform,the algorithm of pipeline feature points location and parameter calculation is realized,and pipe section experiments with standard elbows and engineering data analysis of pipe elbows and pipe welds are completed in turn.The results of experiment and data analysis show that the measurement system,which takes the detector in the pipeline as the carrier and the inertial navigation system as the core,can provide measurement data for location and parameter calculation of pipeline characteristic points which can change the running state of the detector;the measurement data collected by MPU6500 attitude sensor is used to calculate,and the pipe elbows location method can realize accurate location of pipe elbows;the pipe elbow parameter calculation method can accurately calculate the direction of pipe elbow,and the comprehensive error of calculation of elbow angle is within 7%;the location information of pipe elbows is provided by the defect detection equipment which works synchronously,and the calculation method of pipe elbow parameters can calculate the parameters of specified pipe elbow;in the smooth running section of the detector,the method of pipe welds location can effectively realize the location of pipe welds.