Navigation system error correction method based on subsea pipeline node position assistance

Abstract

The invention aims to provide a navigation system error correction method based on subsea pipeline node position assistance. The method is designed based on a scheme of an integrated navigation system(strapdown inertial navigation system (INS) and Doppler velocimeter (DVL) for short) of a cableless submarine oil and gas pipe detection robot. Firstly, a submarine oil and gas pipeline detection robot enters water to perform inspection along a submarine pipeline, and a combined navigation system records the corrosion position of the submarine pipeline through INS and DVL combined calculation; and when a magnetic sensor installed on the submarine oil and gas pipe detection robot detects a submarine pipe node, a position error accumulated by the combined navigation system is corrected according to an accurate absolute position marked by the submarine pipe node, thereby realizing position correction under a dynamic condition. The detection robot is suitable for long-endurance and long-voyage oil and gas pipeline detection underwater, pipeline corrosion point position positioning can be accurately carried out, and guarantee is provided for seabed oil and gas pipeline detection and maintenance operation.

Description

technical field [0001] The invention relates to a detection method for a submarine pipeline, in particular to a detection method for an oil and gas pipeline. Background technique [0002] Submarine oil and gas pipelines can transport the oil and natural gas developed from the ocean to the land, solving the problem of the increasing shortage of land resources, and are important energy guarantee equipment for human production and life. However, due to the strong corrosiveness of seawater, the attachment of marine organisms will cause damage outside the submarine pipeline; the erosion of submarine currents will cause the bottom of the pipeline to be suspended or buried, and will also cause the pipeline to break or leak. A major safety accident occurred in the pipeline, leading to serious pollution of the ocean. Therefore, it is very important to regularly inspect the submarine pipeline and monitor the status of the submarine pipeline. Submarine oil and gas pipeline detection ...

AI Technical Summary

Problems solved by technology

However, the traditional zero-speed correction means that when the carrier stops moving, the speed and acceleration output of the inertial navigation system should be zero in theory. However, due to the influence of system errors and gravitational field disturbances, the measured value of the accelerometer is not Zero, the system still has a certain speed output value, that is, "zero speed error"

Images