RU2152059C1 - Device for positioning of underground pipeline trajectory - Google Patents

Abstract

FIELD: instruments. SUBSTANCE: device has non-magnetic rod, satellite navigation system receiver, portable computer with analog-to-digital converter and indication system, and eight detectors for measuring intensity of magnetic field. Detectors for measuring intensity of magnetic field are designed as three-component magnetometers which are mounted on rigid non- magnetic rod, which is connected to housing. Magnetometers are distributed over its axis, so that three measuring coordinate trihedral axes are parallel to each other and to measuring axes of detectors of orientation device, which is designed as strap-down inertial system, which has three-component unit of apparent acceleration meters, and three-component unit of gyro angular velocity detectors, which are rigidly mounted on housing. System for information processing is designed as portable computer with analog-to-digital converter and indication system. Outputs of three-component magnetometers, as well as outputs of three-component unit of apparent acceleration meters and three-component unit of gyro angular velocity detectors are connected to inputs of analog-to-digital converter, which outputs are connected to inputs of portable computer, which output is connected to indication system. Port of portable computer is connected to output of satellite navigation system receiver. Members of positioning system are connected to single housing, which has straps to be carried by human operator. EFFECT: increased functional capabilities, decreased weight and size. 5 dwg

Description

 The invention relates to measuring technique, in particular, to devices for ground positioning of the route of a ferromagnetic pipe located underground.

 A device for determining the location of main pipelines (Pat. RF 1804636A3 class G 01 V 3/11, BI N 11, 1993), used to detect, determine the location and depth of the main pipelines, consisting of a magnetic field sensor, input amplifier, filter , a logarithmic amplifier, a rectifier, a dial indicator, a housing with a mark and a line for orientation. The disadvantages of this device is the low accuracy of the measurements due to the use of one single-component magnetic field sensor, the orientation and coordinates of which are determined approximately; in addition, to use this device, it is necessary to pass a current of a certain frequency through which the filter of the device is tuned through the pipeline being searched. During operation of the device, the operator must move along with the device across the axis of the pipeline to various points in space to determine the depth of the pipeline. With this method, the accuracy of determining the depth is low, and operation is inconvenient.

A device for detecting dividers or scrapers in oil pipelines (A.S. USSR 897324 / 29-14 class. F 06 l 47 fl ₆₀ 1964, BI N 18, 1965), made with a cross in the form of mutually perpendicular rods installed on them the ends with magnetically sensitive elements, each pair of which is located at the ends of one rod, and an indicator defining the direction of the pipeline is included in one electric circuit according to a gradiometric diagram, and an indicator indicating the location of the separator or scraper in the other is included. The disadvantages of this device include the inability to determine the depth of the pipeline and the large errors in determining the gradient of the magnetic field due to a violation of the parallelism of the sensitivity axes of sensors located on the same boom, as well as fluctuations that occur when the operator moves with the device. The operation of this device is complicated by the need to move a large horizontal cross. In addition, both devices require additional calculations performed by the operator according to the results of magnetic field measurements to determine the numerical value of the pipeline depth and its coordinates.

 Closest to the technical nature of the claimed system is a system for measuring the displacement of a pipeline buried in the ground, i.e. underground pipeline route positioning system (US Pat. 4.727.329 class G 01 V 3/08. Inventions of the world, issue 110, No. 11, 1988). On a moving vehicle there is a sensor that records the magnetic field strength at several points spaced from each other. The output signals are recorded by the recorder to determine the point of maximum magnetic field strength based on the measurements made by the sensor. The vehicle elevation angle relative to some reference point is measured by a device that determines any changes in the elevation angle of the earth’s surface directly above the pipeline section under test. Based on the measurement results, the vertical distance between the sensor and the pipe section is determined at a point corresponding to the maximum magnetic field strength. The disadvantages of this device are the inability to determine the distance to the pipeline on the earth's surface. It is necessary to be above the pipe in order to determine the depth of its occurrence. In addition, the system has a large mass and dimensions. Installation of the system on a vehicle makes it impossible to use it for many sections of the pipeline route (for example, in areas of weak soils, etc.).

 The objective of the invention is to reduce the mass and dimensions of the system to ensure the possibility of its transportation and use by a human operator, as well as expanding functionality by automatically determining not only the depth of the pipe, but also the distance of the operator to it, the magnetic course of the operator and pipe, as well as geographical coordinates of the operator and pipeline route.

 The problem is solved in that a non-magnetic rod, a satellite navigation receiver, an on-board computer with an analog-to-digital converter and an indication system are added to the positioning system of the underground pipeline route, which consists of a magnetic field strength sensor with an amplifier, an information processing system and an orientation device, as well as eight magnetic field sensors so that the magnetic field sensors in the aggregate are made in the form of three three-component m agnitometers mounted on a rigid non-magnetic rod connected to the housing, and the magnetometers are spaced along its axis, so that the three trihedra of the measuring axes are parallel to each other and the measuring axes of the sensors of the orientation device, which is used as a strapdown inertial system consisting of a three-component block of apparent meters accelerations and a three-component block of gyroscopic angular velocity sensors, rigidly mounted on the housing, as an information processing system and an on-board computer with an analog-to-digital converter and indication system was used, the outputs of the three-component magnetometers, as well as the outputs of the three-component block of apparent acceleration meters and the three-component block of gyroscopic angular velocity sensors are connected to the inputs of the analog-to-digital converter, the outputs of which are connected to the inputs of the on-board computer, to the output which the display system is connected to, the output of the satellite navigation system receiver is connected to the on-board computer port, The positioning system tapes are attached to a common case, which has straps for fastening on a human operator.

In FIG. 1 shows a functional diagram of a positioning system (SP) of an underground pipeline route; in FIG. 2 is a diagram of body and rod rotations with a block of accelerometers, a block of gyroscopic angular velocity sensors (TLS) and three-component magnetometers (TMM) in the coordinate system OU ₁ U ₂ U ₃ associated with the pipeline; in FIG. 3 - layout of the positioning system on the operator; in FIG. 4 is a kinematic diagram of a block of accelerometers, a block of DUS and TMM; in FIG. 5 - diagram of the housing to which the elements of the joint venture are attached.

The underground pipeline route positioning system includes a strapdown inertial orientation system (BISO), consisting of a three-component gyroscopic angular velocity meter in the form of a DUS 1 unit, consisting, for example, of two two-component rotary vibration gyroscopes RVG-1M (angular drift velocity 10 deg / deg h) production of the Arzamas NPP Temp-Avia, and a three-component apparent acceleration meter in the form of a block of accelerometers 2, consisting, for example, of miniature solid-state accelerometers etrov AK-5 (classification accuracy of 10 ^-3 m / s ²⁾ Production Arzamasskiy SPE "Temp-Air". Two two-component gyroscopic control systems 1 and three accelerometers 2 are mounted on the housing so that their measuring axes form parallel trihedra, and together with the analog gyroscope electronics and thermostatic control equipment form an inertial unit (IS) 3. Through connectors, IB 3 is connected to a power source in the form of a battery batteries 4, and the outputs of IB 3 are connected to the inputs of the multi-channel analog-to-digital converter of the ADC 5 (for example, the 16-channel 16-bit ADC board PCL-816). IB 3 generates in the form of a DC voltage the signals of three components of the angular velocity of IB in projections on the axis of the coordinate system A ₁ X ' ₁ X' ₂ X ' ₃ and three components of linear acceleration in projections on the same axis. The right orthogonal SK A ₁ X ' ₁ X' ₂ X ' ₃ is connected with the operator, the information security system and the housing on which the information security device and the bar with the TMM are fixed, as well as the first TMM, and the axis A ₁ , X' _{1 is} directed forward along the operator along longitudinal axis, axis A ₁ X ' ₂ - along the normal to the operator. The axis A ₁ X ' ₃ forms with the first two orthogonal three axes and is directed to the right along the movement of the operator. The joint venture uses 9 magnetometers, for example, magnetoresistive sensors assembled as three TMM 6 and connected to a power supply 4. TMM 6 generates signals of the three components of the magnetic field vector at the installation points in the projections on the axis A _i X ' ₁ X' ₂ X ' ₃ (i = 1,2,3). The outputs of TMM 6 are connected to a block of amplifiers 7 (consisting, for example, of operational amplifiers K 140 UD7), which amplify the signals of TMM 6 for supply to the ADC 5. All elements of the joint venture are installed on a common housing 8 (for example, from aluminum alloy D16), which represents a horizontal plate for installing the information security device, which is rigidly connected to a vertical frame adjacent to the back of the operator and using straps 9 attached to the operator. TMM 6 is rigidly mounted on a non-magnetic rod 10 (made, for example, of D16 aluminum alloy), so that their measuring axes form orthogonal trihedra parallel to each other, and the rod 10 is rigidly connected to the housing 8. The on-board computer (BC) is also part of the joint venture 11 with integrated power supply and display. In addition, a duplicate indication system (LCD) 12 is fixed on the operator’s hand (performed, for example, on ALS 340A semiconductor sign indicators, the switching of segments of which is provided using decoders, for example, on K155ID1 microcircuits). The input of the LCD 12 is connected to the output of the BC 11 (for example, a parallel port of Centronix). LCD 12 displays the current parameters (magnetic course of the operator and the pipe, range and depth of the pipeline relative to the operator). The output of the satellite navigation system (SNA) 13 receiver is connected to the port (for example, serial RS-232) of the BC 11. (This, for example, is a GPS / GLONASS receiver in the form of an Ashtech GG24 electronic board). The outputs of the ADC 5 are connected to the inputs of the BC 11. As a BC 11, a notebook or pocket computer is used, which has an information input system and an indication system 12 (keyboard, LCD), sufficient speed and system resources, its own power source. For example, such as Casio Cassiopeia (175x89x25 mm, 391 g, 2 AA batteries, operating time 15-30 hours, 2 MB RAM, RS-232 port, PC-card connector, 114x64 mm LCD screen) or NEC Mobile Pro 750 C (250x127x38 mm, 900 g, lithium-ion batteries, operating time 7-9 hours, 16 MB RAM, PC-card slot, flash memory slot, diagonal 206 mm screen).

соответствующие оценкам угловых скоростей в проекциях на оси системы координат, связанной с основанием СП. Эти сигналы преобразуются АЦП 5 из аналоговой в цифровую форму и используются в реализуемых БК 11 алгоритмах БИ- CO:

где

причем K_θ, K_γ, K_ψ, K $\genfrac{}{}{0ex}{}{\text{I}}{\text{θ}}$ , K $\genfrac{}{}{0ex}{}{\text{I}}{\text{γ}}$ , K $\genfrac{}{}{0ex}{}{\text{I}}{\text{ψ}}$ - коэффициенты коррекции;

- оценка магнитного курса, определяемая по приведенным ниже формулам (5)-(6) в геомагнитной системе координат Oξηξ, где ось Oξ направлена на магнитный Север, Oη - по вертикали места. После первого поворота оператора относительно Oξηξ имеем СК A₁X₁X₂X₃, где поворот оси A₁X₁ на угол ψ_x относительно направления на Север (вокруг оси OU₂) характеризует магнитный курс оператора. С трубопроводом связана правая ортогональная система координат OU₁U₂U₃, где ось OU₁ совпадает с осью трубы, ось OU₂ направлена вертикально вверх.The proposed system works as follows. When the operator moves from the unit DUS 1 in the form of DC voltages to the ADC 5 receives signals

corresponding to estimates of angular velocities in projections on the axis of the coordinate system associated with the base of the joint venture. These signals are converted by the ADC 5 from analog to digital and are used in the BI-CO algorithms implemented by BC 11:

Where

where K _θ , K _γ , K _ψ , K $\genfrac{}{}{0ex}{}{\text{I}}{\text{θ}}$ , K $\genfrac{}{}{0ex}{}{\text{I}}{\text{γ}}$ , K $\genfrac{}{}{0ex}{}{\text{I}}{\text{ψ}}$ - correction factors;

- an estimate of the magnetic course, determined by the following formulas (5) - (6) in the geomagnetic coordinate system Oξηξ, where the axis Oξ is directed to the magnetic North, Oη is the vertical of the place. After the first rotation of the operator relative to Oξηξ, we have SC A ₁ X ₁ X ₂ X ₃ , where the rotation of the axis A ₁ X ₁ by the angle ψ _x relative to the direction to the North (around the axis OU ₂ ) characterizes the magnetic course of the operator. The right orthogonal coordinate system OU ₁ U ₂ U ₃ is connected to the pipeline, where the axis OU ₁ coincides with the axis of the pipe, the axis OU _{2 is} directed vertically upward.

соответствующие оценкам линейных ускорений в проекциях на те же оси. Преобразованные АЦП 5 в цифровую форму эти величины согласно выражениям (2) используются как корректирующие члены в алгоритмах (1). С трех ТММ 6 через БЭ 7 в виде напряжений постоянного тока на АЦП 5 поступают сигналы

соответствующие оценкам компонентов вектора напряженности магнитного поля в проекциях на оси системы координат, связанной с основанием СП в точках установки ТММ. Эти величины, преобразованные АЦП 5 в цифровую форму, пересчитываются в БК 11 по формуле (3) с использованием информации о крене и тангаже штанги 10 с ТММ 6 вычисленной БИСО:

где

- матрицы направляющих косинусов оценок соответствующих углов.From the block of accelerometers 2 meters apparent acceleration in the form of DC voltage to the ADC 5 receives signals

corresponding to estimates of linear accelerations in projections on the same axis. These quantities are converted into digital form by the ADC 5 according to expressions (2) and are used as correcting terms in algorithms (1). From three TMM 6 through BE 7 in the form of DC voltage to the ADC 5 receives signals

corresponding to the estimates of the components of the vector of the magnetic field in the projections on the axis of the coordinate system associated with the base of the joint venture at the points of the TMM installation. These values, converted by the ADC 5 to digital form, are converted into BC 11 according to formula (3) using information about the roll and pitch of the rod 10 with TMM 6 calculated by the BISO:

Where

- matrices of guide cosines of estimates of the corresponding angles.

 An azimuthal correction term is introduced into the algorithms (1), the values of which are calculated by the on-board computer using the algorithms (5) - (6) below.

в БК используются следующие соотношения:

Оценка угла магнитного курса оператора

определяется как решение нелинейного уравнения с помощью интераций по формуле

где

Для определения

используются соотношения

(7)

где

- полная напряженность МПТ в точках установки ТММ,

- оценки направляющих косинусов соответствующих поворотов,
l₂, l₃ - расстояния между ТММ,

- коэффициент, характеризующий магнитные свойства трубы.To determine the angle estimate

in BC, the following relationships are used:

Estimation of the angle of the magnetic course of the operator

defined as a solution to a nonlinear equation using interactions according to the formula

Where

For determining

relations are used

(7)

Where

- the total tension MPT at the points of installation TMM,

- estimates of the guide cosines of the corresponding turns,
l ₂ , l ₃ - the distance between TMM,

- coefficient characterizing the magnetic properties of the pipe.

и трубопровода

, глубины залегания и дальности трубы

по алгоритмам (4)-(9). Эти значения, вычисленные БК 11, выводятся на ЖКИ 12. Составляющие магнитного поля Земли T_ξT_η, а также значения магнитного склонения вдоль трассы трубопровода, занесены в память БК 11 с внешнего источника (магнитный или оптический диск) или с клавиатуры в виде локально кодированных бинарных карт (Белоглазов И.Н., Тарасенко В.П. Корреляционно-экстремальные системы. М.: Сов. радио, 1974.- 392 с.) на основе модели международного аналитического поля Магсат, AWC, IGS. Необходимые для вычислений начальные значения географических координат оператора ξ $\genfrac{}{}{0ex}{}{\text{o}}{\text{г}}$ , η $\genfrac{}{}{0ex}{}{\text{o}}{\text{г}}$ , ζ $\genfrac{}{}{0ex}{}{\text{o}}{\text{г}}$ заносятся в память компьютера с приемника СНС 13 перед осуществлением позиционирования и во время работы определяются СНС. Зная координаты оператора ξ $\genfrac{}{}{0ex}{}{\text{o}}{\text{г}}$ , η $\genfrac{}{}{0ex}{}{\text{o}}{\text{г}}$ , ζ $\genfrac{}{}{0ex}{}{\text{o}}{\text{г}}$ в географической системе координат Oξ_гη_гζ_г, полученной в результате поворота вокруг оси Oη геомагнитной системы координат Oξηζ на угол магнитного склонения, определяются географические координаты трассы трубопровода ξ $\genfrac{}{}{0ex}{}{\text{т}}{\text{г}}$ , η $\genfrac{}{}{0ex}{}{\text{т}}{\text{г}}$ , ζ $\genfrac{}{}{0ex}{}{\text{т}}{\text{г}}$ :

(10)

Точность позиционирования трассы трубопровода при этом в основном зависит от точности определения координат оператора. Для проверки целесообразности использования системы позиционирования проводилось математическое моделирование ее работы на ЭВМ с учетом погрешностей датчиков (погрешности ДУС 5 град/ч, акселерометров 3•10^-3 м/с², ТММ 10 нТл). Моделирование проводилось при значениях T_ξ= 30000 нТл, T_η= -50000 нТл, F_k = 200000 нТлм², ε = 0,25 рад. По результатам математического моделирования дальность (≈ 5 м) и глубина (≈ 3 м) трубопровода относительно оператора определяется с погрешностью 10 - 20 см. Известно при этом, что погрешность определения координат оператора с помощью СНС, при работе ее в дифференциальном режиме, составляет единицы метров (СКО 1-4,5 м).The values obtained from expression (3) are used to calculate the magnetic course estimates

and pipeline

, depth and range of the pipe

according to the algorithms (4) - (9). These values calculated by BC 11 are displayed on LCD 12. The components of the Earth’s magnetic field T _ξ T _η , as well as the values of magnetic declination along the pipeline route, are recorded in BC 11 from an external source (magnetic or optical disk) or from the keyboard in the form of a local coded binary cards (Beloglazov I.N., Tarasenko V.P. Correlation-extremal systems. M: Sov. radio, 1974.- 392 pp.) based on the model of the international analytical field Magsat, AWC, IGS. Initial values of the geographical coordinates of the operator ξ necessary for the calculations $\genfrac{}{}{0ex}{}{\text{o}}{\text{g}}$ , η $\genfrac{}{}{0ex}{}{\text{o}}{\text{g}}$ , ζ $\genfrac{}{}{0ex}{}{\text{o}}{\text{g}}$ recorded in the computer memory from the receiver of the SNA 13 before positioning and during operation are determined by the SNA. Knowing the coordinates of the operator ξ $\genfrac{}{}{0ex}{}{\text{o}}{\text{g}}$ , η $\genfrac{}{}{0ex}{}{\text{o}}{\text{g}}$ , ζ $\genfrac{}{}{0ex}{}{\text{o}}{\text{g}}$ in the geographical coordinate system Oξ _g η _g ζ _g obtained as a result of rotation of the geomagnetic coordinate system Oξηζ around the Oη axis by the angle of magnetic declination, the geographical coordinates of the pipeline ξ are determined $\genfrac{}{}{0ex}{}{\text{t}}{\text{g}}$ , η $\genfrac{}{}{0ex}{}{\text{t}}{\text{g}}$ , ζ $\genfrac{}{}{0ex}{}{\text{t}}{\text{g}}$ :

(10)

The accuracy of the positioning of the pipeline route in this case mainly depends on the accuracy of determining the coordinates of the operator. To verify the appropriateness of using the positioning system, mathematical modeling of its operation on a computer was carried out taking into account the errors of the sensors (SDS errors of 5 deg / h, accelerometers 3 • 10 ^-3 m / s ² , TMM 10 nT). The simulation was carried out at values of T _ξ = 30000 nT, T _η = -50000 nT, F _k = 200000 nTl ² , ε = 0.25 rad. According to the results of mathematical modeling, the range (≈ 5 m) and depth (≈ 3 m) of the pipeline relative to the operator is determined with an error of 10 - 20 cm. It is also known that the error in determining the coordinates of the operator using the SNA, when it is in differential mode, is unity meters (standard deviation 1-4.5 m).

Эти величины в любой момент как во время позиционирования, так и после него, могут быть выведены на встроенный дисплей БК 11 для анализа и проверки результатов работы системы позиционирования.The values of the geographical coordinates of the pipeline calculated at positioning the pipeline section ξ $\genfrac{}{}{0ex}{}{\text{t}}{\text{g}}$ , η $\genfrac{}{}{0ex}{}{\text{t}}{\text{g}}$ , ζ $\genfrac{}{}{0ex}{}{\text{t}}{\text{g}}$ are stored in the memory of BC 11, as well as the geographical coordinates of the operator ξ $\genfrac{}{}{0ex}{}{\text{o}}{\text{g}}$ , η $\genfrac{}{}{0ex}{}{\text{o}}{\text{g}}$ , ζ $\genfrac{}{}{0ex}{}{\text{o}}{\text{g}}$ , values

These values at any time both during positioning and after it can be displayed on the integrated display of the BC 11 for analysis and verification of the results of the positioning system.

Claims (1)

 An underground pipeline route positioning system, consisting of a magnetic field strength sensor with an amplifier, an information processing system and an orientation device, characterized in that it additionally includes a non-magnetic rod, a satellite navigation receiver, an on-board computer with an analog-to-digital converter and an indication system, and also eight magnetic field sensors so that the magnetic field sensors in the aggregate are made in the form of three three-component magnetometers mounted on a rigid non-magnetic rod connected to the housing, the magnetometers being spaced along its axis, so that the three trihedra of the measuring axes are parallel to each other and the measuring axes of the sensors of the orientation device, which uses a strapdown inertial system consisting of a three-component block of apparent acceleration meters and a three-component block of gyroscopic angular velocity sensors, rigidly mounted on the housing, as an information processing system using An on-board computer with an analog-to-digital converter and an indication system, the outputs of the three-component magnetometers, as well as the outputs of the three-component block of apparent acceleration meters and the three-component block of gyroscopic angular velocity sensors are connected to the inputs of the analog-to-digital converter, the outputs of which are connected to the inputs of the on-board computer, to the output of which display system is connected, receiver output of satellite navigation system is connected to the on-board computer port, system elements positioning attached to a common housing, which has straps for mounting on a human operator.

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