| Pipeline Inspection Gauge(PIG) is an important equipment designed for detection of oil and gas pipeline, such as the corrosion of metal, deformation of local areas, cracks of welds. The working PIG is vulnerable to be stuck in the places of big deformation, tee joints and valves of the pipeline. It is needed to be found and rescued as quickly as possible because of its high cost. Therefore, it is extremely significant to research ground tracking and location technology for PIG.This paper involves a new acoustic tracking and location system as the existing systems are no longer meet requirements with the increase of buried depth and wall thickness of pipelines. This new system can locate the PIG in a high accuracy by analyzing the seismic signals, which are generated by jammed PIG in pipeline.An in-depth study on the acoustic tracking and location system is discussed in this paper. The major work covers the following aspects: The principle, advantages and disadvantages of current tracking and location methods are researched, and finally acoustic system based on sensor array is selected according to subject needs; Acoustic signal transmission mechanism in soil and collection methods are researched, and after compare a variety of location methods, direction of arrival (DOA) with its possible errors and causations analyzed is brought forward; In order to verify the correctness of theoretical analysis and prepare for the design of practical system, an acoustic location experimental system based on the sensor array is designed. Finally, design and complete several experiments in wild environment to verify the correctness of azimuth estimation theory and the feasibility of the system. Results show that this method could locate the azimuth of PIG in a high accuracy and it is helpful to the next accurate location. This method has a great application value because of it simple algorithms and facile operations. |
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