| Energy is a powerful driving force to support the country's economic giants,and marine oil and gas resources have broad development prospects because of their abundant reserves.The important task of ocean oil and gas resource transportation is undertaken by ocean oil and gas pipelines.With the vigorous development of ocean energy,its importance has gradually become prominent.The safety of offshore oil and gas pipelines is related to the efficiency of oil and gas extraction,the safe transportation of the extracted energy,and even the safety of the ecological environment in the surrounding seas.Once the offshore oil and gas pipeline leaks,it will cause economic and ecological losses that are difficult to measure.Therefore,regular inspections and maintenance of offshore oil and gas pipelines are of great practical significance.With the deepening of the exploration and development of the ocean,the development of underwater robots is also in full swing.The use of underwater robots instead of humans to perform inspection tasks on marine oil and gas pipelines will also be a hot development direction for underwater robots in the future.The use of Autonomous Underwater Vehicle(AUV)to conduct external inspections of offshore oil and gas pipelines requires not only the ability to ensure normal navigation,but also the effective location of leaks.At the same time,facing the complex and changeable underwater environment,higher requirements are put forward for the stability of the underwater robot navigation system based on marine pipeline inspection.Therefore,this article has carried out research and design for the integrated navigation system of submarine pipeline inspection robot.In this paper,according to the design requirements of AUV based on marine pipeline inspection,the overall design scheme of AUV integrated navigation system is given.Then build a hardware platform according to actual needs,and select the required system sensors.Introduce in detail the power circuit,communication circuit,configuration circuit and external storage circuit of the communication circuit board and the navigation solution board.It also introduces the content of the NIOS II soft core of the embedded navigation computer based on SOPC.Then,the working principles of strapdown inertial navigation system(SINS)and Doppler log(DVL)are introduced,and their error generation mechanism is analyzed.The error model of the IMU system is established,and the calibration experiment of fiber optic gyroscope and accelerometer is carried out to identify the relevant parameters of the error model.The static data of the fiber optic gyroscope is collected,and Allan variance analysis is performed to obtain the random drift error.After that,the basic principles of integrated navigation,navigation basic coordinate system and the conversion relationship between coordinate systems are introduced.The basic equations of the navigation system are derived,and the improved adaptive Kalman filter(AKF)is used as the filter.According to actual needs,on the basis of the SINS/DVL integrated navigation system,the auxiliary correction of the position of the submarine pipeline node is introduced.Finally,through simulation experiments,the feasibility of the algorithm is verified.Finally,the system was tested.In the static experiment,the system can stably output data to prove that the communication is normal.In the cart experiment,the cart travels for 150 s with an error within 2m,which proves that the system can effectively calculate navigation information and the sports car experiment travels for 900 s with an error.Within 3m,the experimental results show that the system designed in this paper meets the requirements. |
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