Error compensation method for long-distance underground pipeline positioning system and implementation system

Abstract

The invention discloses an error compensation method for a long-distance underground pipeline positioning system and an implementation system. The method includes the following steps that 1, a three-dimensional ground coordinate system is established; 2, according to pre-mastered pipeline information, a coordinate correcting circuit of the exterior of a pipeline is arranged, the perpendicular depth of the center, at a point, of the pipeline is measured, three-dimensional coordinates of the coordinate correcting point and the head and tail ends of the pipeline are then determined, and measureddata is written into a data processor in advance; 3, a positioning device is fixed to a pipeline robot, and the pipeline robot is positioned in combination with altitude angle data of an MEMS inertialmeasurement module and data of a mileage collecting module; 4, when the pipeline robot advances and induction current is generated for the k time (k=1, 2, 3......) by a receiving coil and reachesthe maximum value, a k coordinate correcting value is written into a data storage module; 5, after pipeline positioning is completed, an upper computer reads, corrects and conducts three-dimensional display on data in the storage module. The error compensation method is large in application range and high in calculation precision.

Description

technical field [0001] The invention relates to the field of pipeline surveying and mapping, in particular to an error compensation method and an implementation system for a long-distance underground pipeline positioning system. Background technique [0002] Pipeline transportation is one of the five major transportation industries along with railways, highways, water transportation and shipping. It has the advantages of large transportation volume, not limited by climate and other factors on the ground, continuous operation and low cost. [0003] The normal operation of pipeline transportation is a major issue related to the safety of people's livelihood and the development of the national economy. When underground pipelines are destroyed, it may cause huge economic losses, and even cause major environmental pollution and casualties. When the location of the underground pipeline is not clear, it will bring a lot of inconvenience to the underground construction. In order t...

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Problems solved by technology

However, the above detection technologies have their corresponding limitations: for pipelines buried below 5 meters or passing through rivers and lakes, it is difficult to meet the accuracy requirements of electromagnetic induction detection; in reality, the length of an underground pipeline can reach hundreds of kilometers. For long-distance underground pipelines, it is not convenient to use high-density electrical method and high-precision magnetic measurement method

This method mainly uses the GPS principle for positioning, requires at least 4 effective satellites, the implementation project is complicated, the positioning efficiency is low, and it has certain requirements for the environment and weather, and the pipeline positioning accuracy is not high

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