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Optimization method of pipeline surveying and mapping internal inspection IMU data preprocessing

A technology for data preprocessing and optimization methods, which is applied in the direction of measuring devices, navigation through speed/acceleration measurement, instruments, etc., can solve the problems of deteriorating matching conditions, large amount of calculation, and many confounding factors, and achieve the possibility of misjudgment The effect of small, confounding factors, and small amount of calculation

Inactive Publication Date: 2019-06-11
CHINA PETROLEUM & CHEM CORP +2
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  • Claims
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AI Technical Summary

Problems solved by technology

[0011] 3. Limitations of Existing Methods
The amount of calculation is large, the evaluation process requires a lot of manual intervention, the efficiency is low, and it is difficult to form a clear judgment criterion
[0015] 2) There are many confounding factors in the evaluation
Moreover, engineering practice has proved that even if the trajectory of a certain pipe section matches the calibration point very well, the matching situation may deteriorate in the next section.
Even if the matching of all checkpoints is very good, it does not actually prove that the denoising of the original data has been done to the best

Method used

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  • Optimization method of pipeline surveying and mapping internal inspection IMU data preprocessing

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Embodiment Construction

[0041] The present invention will be further described through specific embodiments below in conjunction with the accompanying drawings.

[0042] 1) The use premise of the judgment method of the present invention is:

[0043] The serving cylinder is "flat and straight", that is, the center line of the serving cylinder is basically horizontal to the ground plane, and the initial movement stage (2 to 3 meters) of the PIG in the serving cylinder moves along a straight line; the pipeline survey and mapping detects that the PIG is in the serving cylinder " Horizontal placement", that is, to ensure that the horizontal plane of the PIG (that is, the XOY plane of the internal IMU) is parallel to the ground plane; before the PIG moves, it needs to rest for more than 5 minutes to complete the initial alignment of the static base.

[0044] (2) The operation steps of this judgment method are as follows:

[0045] Step 1, define the initial conditions of the algorithm.

[0046] 1) Define ...

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Abstract

The invention discloses an optimization method of pipeline surveying and mapping internal inspection IMU data preprocessing. The method comprises the following steps: firstly, determining an estimatedvalue of an initial attitude angle of an IMU by measuring a physical dimension of a ball serving barrel; then performing initial alignment of a static base by using two iterative filtering data to becompared to respectively obtain a course angle and an elevation angle, and calculating alignment errors of the course angle and the elevation angle; and then using a difference value of absolute values of the alignment errors as a criterion to evaluate the effect of the twice iterative filtering. By adoption of the method, the filtering effects of different iterations can be compared to a certainextent to prompt the over-filtering situation and to optimize the preprocessing algorithm. Compared with the manner of directly comparing the matching degree of a solution trajectory and a checkpoint, the method is more efficient, the most of confounding factors are removed from the iteration for terminating the iteration, the method is more convincing, the over-filtering situation is basically avoided, and the optimization of the data preprocessing algorithm is achieved.

Description

technical field [0001] The invention relates to a method for preprocessing raw data output by an IMU subsystem of a pipeline surveying and mapping internal detection device, specifically a time-domain denoising method that first needs to be performed when the raw output data of the IMU is processed off-line. Background technique [0002] 1. In-line detection in pipeline surveying and mapping [0003] The in-pipe inspection device (PIG) ​​can measure the defect or deformation of the pipeline during the movement in the pipeline. Pipelines and in-pipeline detection systems have positioning requirements for pipeline-related objects, and surveying and mapping projects need to be implemented. [0004] The internal inspection of pipeline surveying and mapping based on inertial technology is currently the main method of pipeline engineering surveying and mapping in the world. Under the normal operation state of the pipeline, the three-dimensional coordinates of the pipeline can be...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01N33/00G01C21/18G01C21/16
Inventor 薛正林司刚强成文峰苏林陈发祥许志军郑树林袁龙春汤荣龚则顾春琳马雪莉杜慧丽尹逊金刘俊甫李通曹乐乐孟祥磊庄金峰李军侯世俊钱得才姚志军张苏刘义生张锋朱克云刘先东陈峰
Owner CHINA PETROLEUM & CHEM CORP
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