| As the most important equipment of transportation, it’s more and more widely usedfor oil and gas transportation. In the transportation of materials, under the effects ofmaterials and the earth movement cause the pipeline corrosion, shape changing and etc. Ifthe position of the pipeline can be provided digitally, the safe conditions can be monitoredeffectively and it’s really meaningful to the repair and maintenance.To achieve the digital measurement of pipeline position, this paper has a deepresearch on the strapdown inertial navigation technology. Associating with the real workprocess of pipeline inspection gauge(PIG), it proposes a new method for navigating thePIG based on the strapdown inertial navigation technology. According to inner pipelinedetection application, the method of positioning the pipeline is analyzed and designed.Concerning the reality problem in detection of pipeline, a sectional amendment methodbased on the measurement of geographic information of pipeline at the magnetic markpoint are provided. The error models of accelerator, gyro and odometer are established forsectional amendment. The algorithm developed on the MATLAB environment realizes thecalculation of the position of pipeline. For testing the performance of this pipelinepositioning method, the test platform and the data acquisition system are developed for thetest of this method. In the straight line experiment, the relative accuracy reaches0.3%ofthe whole line. After the sectional amendment, the error of absolute position in the longdistance experiment is less than3m. The0.2m lateral deformation can be tested out.The result on the testing platform manifests that this method can be used to positionpipeline and the pipeline sectional amendment method is useful to eliminate the errors. Theaccuracy of positioning is suitable to detect lateral deformation. It’s meaningful to thesocial significance and makes a tremendous economic value. |
PDF Full Text Request