Research On Underwater Pipeline Routing Technology Based On Vector Magnetic Measurement

The location and trend of submarine pipeline have great reference significance for the construction of new pipeline laying,port construction,bridge construction,pipeline maintenance and other offshore projects.As the routing of submarine pipelines is susceptible to the complex environment of the deep sea,various underwater pipeline routing technologies for probing underwater pipeline routing have emerged as the times require.Traditional underwater pipeline routing technologies include shipborne instrument detection,cabled underwater robots,and diving detection.These technologies need the support of the mother ship when routing operations,which is greatly affected by water depth and the system is complicated.Therefore,traditional detection methods have the disadvantages of high cost,small application range,and low routing efficiency.Considering the above application background and technical problems,this paper develops an underwater pipeline routing system based on vector magnetic measurement.In this system,three component magnetic sensor is used as the detection unit to locate the underwater pipeline by detecting the magnetic field generated by alternating current in the pipeline.The system uses the location information of pipeline to track the pipeline automatically.While the system tracks the pipeline,the underwater positioning system on the system records the real-time position of the system.When routing operation,the running track of the system is the route of the underwater pipeline.The system is not only simple in structure,low in routing cost and high in efficiency,but also can track the underwater pipeline autonomously.After clarifying the research background and significance of the subject,this paper has made a deep understanding of related research at home and abroad,and compared several common underwater pipeline routing technologies.Then,this paper studies the principle of underwater pipeline routing technology,analyzes the magnetic field model of underwater pipeline,and deduces the theoretical model of pipeline routing based on three-axis flux gate magnetic sensor.Secondly,the hardware design and software design of the routing system are realized.Then,this paper analyzes and corrects the steering difference of the sensor.Finally,the system is tested in this article.The test results show that the software and hardware design of the system meets the requirements and can track the carrier pipeline route.