Pipeline turning angle detection method

Abstract

The invention discloses a pipeline turning angle detection method, which comprises the following steps of: respectively acquiring three-axis acceleration, a three-axis angular rate and an axial speedby utilizing a three-axis accelerometer, a three-axis gyroscope and a multi-mileage instrument through the movement of a detection device in a pipeline; meanwhile, processing the acquired measurementvalues by means of a data processing unit and storing the measurement values in a data storage unit; after the detection is completed, combining output information of the three-axis accelerometer, thethree-axis gyroscope and the multi-mileage instrument under the offline condition, and calculating posture, speed and position information of a small-diameter pipeline detection robot moving in the pipeline by adopting a strapdown inertial navigation algorithm under the condition that the initial posture, speed and position of the detection device before detection are known; and correcting the speed information of the detection device moving in the pipeline according to the measurement information of the multi-mileage instrument, so that the positioning precision is improved. The detection result of the pipeline turning angle detection method can be suitable for improving the pipeline detection and positioning precision in environments such as urban tall buildings, viaducts, tunnels and indoor environments which cannot be positioned by GPS.

Description

technical field [0001] The invention belongs to the technical field of pipeline surveying and mapping, and relates to a method for detecting a pipeline turning angle, in particular to a method for detecting a pipeline turning angle based on a multi-odometer and a micro-inertial measurement unit. Background technique [0002] At present, a large number of various oil and gas resources, water resources and chemical substance transportation pipelines have been laid, and accidents and various safety issues caused by corrosion and leakage have aroused widespread social concern. In recent years, there have been hundreds of submarine pipeline leakage accidents publicly reported in China, and land pipeline leakage accidents have occurred more frequently, reaching hundreds every year. These leaks will not only affect the normal production of oil and gas fields and cause major economic losses; they will also cause environmental pollution and ecological disasters; and even threaten the...

AI Technical Summary

Problems solved by technology

[0005] In the existing technology, multi-sensor information fusion technology is usually used to detect pipelines. This detection method has high requirements for sensors, and in small-diameter pipelines, due to the limited size and power consumption, the selection of sensors is also limited; In addition, the detection error of the direction angle by the low-cost micro-inertial measurement unit is relatively large, which also makes the low-cost micro-inertial measurement unit unable to guarantee the detection accuracy in the detection of small-diameter pipelines, and the existing technology does not propose a pipeline detection robot Efficient autonomous detection method when cornering

[0006] At present, no method introduction similar to this invention has been found in core journals and patent inquiries

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