Study On The Measurement Method Of Short Distance Pipe Based On Low Precision Inertial Navigation System

As an important carrier of energy transportation,pipeline is widely used in the transportation of oil and gas.During transportation,the pipeline is affected by the transportation of materials and natural environment,which can cause corrosion and deformation.Regular pipeline safety inspection and maintenance is conducive to prevent major accidents and ensure the safe operation of pipelines.Based on the detection of pipeline geographic coordinates measurement can detect the location information for the entire pipeline,so as to improve the positioning accuracy of the pipe and decrease the cost of the excavation,which has certain practical significance.Based on the problem of the location of the pipeline and the actual working environment of the pipeline,this paper puts forward the use of inertial navigation technology to measure the geographical coordinates of the pipeline.At present,the inertial navigation technology has been gradually applied to the positioning of pipeline longitude and latitude.In this paper,the basic theory of strapdown inertial navigation technology is studied.Combining with the working characteristics of in-pipeline detectors,a combined navigation method of in-pipeline detectors based on inertial navigation technology is studied.The inertial navigation system is carried on the detector in the pipeline,and the inertial navigation system collects the data of pipeline geographic information continuously in the PIG operation project.In view of the actual oil and gas pipeline internal environment and random noise,on the basis of reducing the random disturbance,the principle of strapdown inertial navigation geographic coordinate measuring method of the integrated navigation pipes is design and deduced.By studying the gyroscope and accelerometer error model,using RTK equipment at the scene of the actual engineering measurement calibration point,about measuring 1 per kilometer,it presents the method of piecewise fixed geographical coordinates measurement error.Based on the strapless inertial navigation algorithm,the geographic coordinate algorithm is developed independently on the MATLAB platform,and the details can be replayed in detail.In order to verify the decoding algorithm of geographic coordinate measurement of the pipes,the study which is based on tin wire engineering pipeline,pipeline geographic coordinate measurement and calculating the total mileage of 49.902 km.The use of inertial navigation technology forburied oil and gas pipeline geographic coordinates measurement has a certain reference.The results show that the measurement system based on inertial navigation system can be used to measure the geographical coordinates of buried oil and gas pipelines.,each position error with checkpoint contrast are controlled to less than 1 m.The overall trend with map match exactly and integrated positioning accuracy is 0.928 ‰.Through the early stage of the project to collect the latitude and longitude of checkpoint and the pipe segment,inertial measuring element can minimize error caused by the accumulation of time,measurement accuracy satisfies the requirement of detection.Based on the geocoordinate measurement of the inertial navigation system,it will bring great economic value and practical significance to the position positioning and defect maintenance of the long-distance oil and gas pipeline in China.