Elbow identification method based on IMU (Inertial Measurement Unit) detection

Abstract

The invention provides an elbow identification method based on IMU (Inertial Measurement Unit) detection. The method comprises the steps that IMU detection data of a to-be-detected pipeline is processed, angle information is obtained, and the angle information comprises a pitch angle and an azimuth angle; selecting N first discrete points on the to-be-measured pipeline according to a set mileage interval, determining a pitch angle and an azimuth angle corresponding to each discrete point, and respectively calculating pi and ai of the first N-1 discrete points; the first discrete points with pi and ai larger than the angle threshold value are screened out to serve as second discrete points, the second discrete points are segmented, and the mileage interval between the segmented pipe sections is larger than the set mileage interval; and judging each divided pipe section, wherein the judgment comprises the step of identifying the pipe sections meeting the elbow parameters as elbows. According to the method, the elbow of the pipeline can be identified and positioned more accurately through the detection data of the IMU, so that the positioning precision of detection in the pipeline and the judgment precision of bending deformation of the pipeline are improved.

Description

technical field [0001] The present invention relates to the technical field of pipeline detection, in particular, to an elbow identification method based on IMU detection. Background technique [0002] Long-distance oil and gas pipelines are mostly buried in mountainous areas with complex location conditions. Traditional excavation detection methods can only detect local parts of pipelines, and are not suitable for full-line evaluation of long-distance pipelines. The in-pipe inspection technology equipped with IMU can inspect the entire pipeline without excavating the pipeline. In addition to recording the geographic coordinates of the inner detector, the IMU also records the attitude information of the inner detector at each moment, including the pitch angle and azimuth angle. [0003] The location information of the pipeline can be located through the detection data of the IMU. This location error increases with the drift of the detector and accumulates with time. Therefo...

AI Technical Summary

Problems solved by technology

The existing technology usually calculates the bending strain of the pipeline through the IMU. Due to the influence of the elbow data, this result cannot intuitively and quickly reflect the bending deformation of the pipeline through the calculated value of the strain. Identify the elbow with the internal detection data, and then do data alignment to find the elbow data in the IMU. This method is complex and cumbersome

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