惯性导航技术在管道内检测中的应用

发布时间：2018-05-03 07:54

本文选题：捷联惯性导航 + 管道内检测器　；参考：《沈阳工业大学》2013年硕士论文

【摘要】：管道作为物料运输的重要设施，已经越来越广泛的应用于石油天然气的运输。在运输过程中，管道受到运送物资和自然环境的影响会产生腐蚀和形变。如果能够对管道地理坐标进行数字化测量，就可以对管道的安全状况进行有效的检测，对管道的维修维护具有重要的意义。为了实现对管道地理坐标的数字化测量，，本文对捷联惯性导航技术进行深入研究，结合管道内检测器的实际工作状况，提出一种基于捷联惯性导航技术的管道内检测器组合导航方法。该方法将惯性导航系统搭载于PIG上，随PIG进行内检测作业实现对管道地理坐标的测量并可以对因地壳运动所造成的管道弯折进行测量。针对管道内检测技术的应用背景，设计和推导了基于捷联惯性导航原理的组合导航管道地理坐标测量方法。通过研究传感器误差模型，提出了利用磁标记处地理坐标信息对传感器模型参数进行估计进而分段修正地理坐标测量误差的方法。结合捷联惯性导航算法，在MATLAB平台上实现了地理坐标解算算法。为了验证所研究方法对管道地理坐标的测量效果，根据管道内检测的实际情况，搭建了实验平台，完成了硬件的选型和数据采集与存储软件的开发。直线实验结果的相对误差达到了0.3%。在利用磁标记进行分段修正后长程地理坐标测量实验的结果绝对位置误差小于3m，并且实验验证了该方法可以对600m距离内的0.6m管道弯折进行检测。应用实验平台进行的实验结果表明：管道地理坐标测量系统可以实现对管道地理坐标的测量。通过利用地理磁标处的管道地理信息可以实现对航迹推算误差的有消除，测量精度满足对管道弯折的检测要求。管道地理坐标的数字化测量将会对我国长输油气管道的安全施工和维护产生重大的经济价值和社会意义。
[Abstract]:As an important facility of material transportation, pipeline is more and more widely used in oil and gas transportation. In the course of transportation, the pipeline will be corroded and deformed due to the influence of transportation materials and natural environment. If the geographic coordinates of the pipeline can be digitally measured, the safety condition of the pipeline can be effectively detected, and it is of great significance to the maintenance and maintenance of the pipeline. In order to realize the digital measurement of the geographical coordinates of pipelines, the strapdown inertial navigation technology is deeply studied in this paper. A method of integrated navigation based on strapdown inertial navigation technology is proposed. In this method, the inertial navigation system is mounted on the PIG, and the internal detection is carried out with PIG to measure the geographical coordinates of the pipeline and the bend of the pipeline caused by the crustal movement can be measured. Aiming at the application background of pipeline detection technology, a method of integrated navigation pipeline geographic coordinate measurement based on strapdown inertial navigation principle is designed and deduced. By studying the sensor error model, a method of estimating the sensor model parameters by using the geographic coordinate information of the magnetic marker is presented, and the method of correcting the geographic coordinate measurement error by stages is put forward. Combined with strapdown inertial navigation algorithm, the geographic coordinate algorithm is implemented on MATLAB platform. In order to verify the measuring effect of the research method to the geographical coordinate of pipeline, according to the actual situation of the pipeline detection, the experimental platform was built, and the selection of hardware and the development of data acquisition and storage software were completed. The relative error of the experimental results is 0.3%. The absolute position error is less than 3 m after segmented correction by using magnetic markers, and it is verified by experiments that the method can be used to detect the bending of 0.6 m pipeline in 600m distance. The experimental results show that the geographical coordinate measurement system can be used to measure the geographical coordinates of pipelines. By using the geographic information of the pipeline at the geomagnetic mark, the error of track reckoning can be eliminated, and the measurement accuracy can meet the requirements of the pipeline bending detection. The digital surveying of geographical coordinates of pipelines will bring great economic value and social significance to the safe construction and maintenance of long oil and gas pipelines in China.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：P227.9;U178

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