CN111750863A - Navigation system error correction method based on auxiliary position of sea pipe node - Google Patents

Navigation system error correction method based on auxiliary position of sea pipe node Download PDF

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Publication number
CN111750863A
CN111750863A CN202010557621.5A CN202010557621A CN111750863A CN 111750863 A CN111750863 A CN 111750863A CN 202010557621 A CN202010557621 A CN 202010557621A CN 111750863 A CN111750863 A CN 111750863A
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navigation system
error
submarine
detection robot
speed
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魏延辉
邵红
郭彤旭
樊雅妮
谢吉顺
于恬
付敬恒
王玥玥
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Qingdao Harbin Shipbuilding Intelligent Marine Equipment Technology Co ltd
Harbin Engineering University
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Qingdao Harbin Shipbuilding Intelligent Marine Equipment Technology Co ltd
Harbin Engineering University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/203—Specially adapted for sailing ships
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass

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  • Radar, Positioning & Navigation (AREA)
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Abstract

The invention aims to provide a navigation system error correction method based on the auxiliary position of a marine vessel node, which is designed based on the scheme of an integrated navigation system (a strapdown Inertial Navigation System (INS) and a Doppler velocity meter (DVL)) of a cableless submarine oil and gas pipe detection robot, wherein firstly, the submarine oil and gas pipe detection robot carries out routing inspection along the marine vessel, and the integrated navigation system records the corrosion position of the marine vessel through the combination resolving of the INS and the DVL; when the magnetic sensor arranged on the submarine oil and gas pipe detection robot detects a submarine pipe node, the position error accumulated by the integrated navigation system is corrected according to the accurate absolute position of the submarine pipe node mark, so that the position correction under the dynamic condition is realized. The detection robot is suitable for detecting oil and gas pipelines with long voyage and long voyage underwater, can accurately position corrosion points of the pipelines, and provides guarantee for detection and maintenance of seabed oil and gas pipes.

Description

Navigation system error correction method based on auxiliary position of sea pipe node
Technical Field
The invention relates to a submarine pipeline detection method, in particular to an oil and gas pipeline detection method.
Background
The submarine oil and gas pipeline can convey oil and natural gas developed by the ocean to the land, solves the problem of the gradual lack of land resources, and is important energy guarantee equipment for human production and life. However, the seawater is highly corrosive, and the adhesion of marine organisms can cause damage outside the submarine pipeline; the scour of ocean currents on the seabed can cause the bottom of the marine pipe to be suspended or buried, and can also cause the marine pipe to be broken or leaked, and the factors can cause serious safety accidents to occur on the submarine pipeline, so that the ocean is seriously polluted. Therefore, it is very important to monitor the state of the marine pipeline by periodically detecting the submarine pipeline. The submarine oil and gas pipe detection robot with the detection equipment can automatically complete submarine pipeline inspection, locate submarine pipeline fault points or corrosion points and provide early-stage measurement data for later-stage guarantee and maintenance. The key problem of the long-term tour inspection of the seabed oil and gas pipe detection robot is the accuracy of navigation data, particularly the accuracy of position information. The underwater navigation system of the seabed oil and gas pipe detection robot consists of a strapdown navigation system (INS for short) and a Doppler velocity meter (DVL for short), but the main error sources of the inertial navigation system are as follows: the gyroscope drift, the accelerometer zero offset, the scale factor error and the like, under the influence of the errors, the attitude angle, the speed and the position error of the inertial navigation system all have periodic oscillation phenomena, particularly the position error, are in a divergent trend along with the increase of time, the position error is larger and larger, the position error precision of submarine pipeline detection cannot be met, and the problem which needs to be solved at present is urgent. In order to control the error of the inertial navigation system, a zero-speed correction scheme or a landmark information auxiliary scheme is generally adopted on the land.
At present, the mature underwater integrated navigation mode is mainly integrated navigation of a Strapdown Inertial Navigation System (SINS), a GPS satellite navigation system and a Doppler log (DVL), but the mode needs a submarine oil and gas pipe detection robot to continuously float out of the water surface and carry out position correction through the GPS, and the submarine oil and gas pipe detection efficiency is seriously limited. Therefore, there is a need to develop a combined navigation and positioning system and method that enables a subsea hydrocarbon pipe inspection robot to navigate underwater for long periods of time without having to float out of the water for calibration. The zero-speed correction technology plays a crucial role in vehicle navigation equipment, and is a commonly used error compensation technology. After the inertial navigation system is initially aligned, the carrier starts from a known coordinate point, stops once every a period of time (3-5 minutes), observes speed errors during the stop motion, and corrects errors of the carrier in other aspects. By adopting the scheme, only the initial coordinate position is needed, and most of time-related error source influences in the inertial navigation system can be solved without other external information. The submarine pipeline is formed by welding a plurality of sections of standard pipelines, has welding nodes with fixed length and fixed intervals, and can be accurately detected by a magnetic sensor carried on a submarine oil-gas pipe detection robot. However, in the conventional zero-speed correction, when the carrier stops moving, the speed and acceleration output of the inertial navigation system should be zero theoretically, and actually, due to the influence of factors such as system error and gravitational field disturbance, the measurement value of the accelerometer is not zero, so that the system still has a certain speed output value, namely, a zero-speed error. This phenomenon is more severe underwater and needs a more effective solution.
Disclosure of Invention
The invention aims to provide a navigation system error correction method based on the auxiliary position of a submarine pipeline node, which realizes the high-precision autonomous navigation and positioning of a submarine oil and gas pipe detection robot during long voyage and provides guarantee for submarine oil and gas pipe detection and repair operation.
The purpose of the invention is realized as follows:
the invention relates to a navigation system error correction method based on the auxiliary position of a sea pipe node, which is characterized by comprising the following steps:
(1) the navigation system is initialized, and the strapdown navigation system carries out autonomous north finding to realize autonomous orientation;
(2) before the submarine pipeline detection robot works, binding of an initial position and an initial speed under a dynamic condition is completed, and initial alignment is realized;
(3) the strapdown navigation system is combined with the Doppler current meter to realize real-time position resolving of the navigation system and provide attitude and position information for the marine vessel detection robot;
(4) the submarine pipeline is detected by the submarine pipeline detection robot, the state of the submarine pipeline is detected by moving along the pipeline, and when a corrosion point is detected, position information is output by the inertial navigation system to record the position information of the corrosion point of the submarine pipeline;
(5) when the magnetic sensor detects a sea pipe node, recording the absolute position information of the sea pipe according to the sea pipe construction drawing, and eliminating the position error information of the navigation system by adopting dynamic zero-speed correction.
The present invention may further comprise:
1. the zero-speed correction method specifically comprises the following steps:
the system equation of Kalman filtering is
Figure BDA0002544858620000021
Attitude angle error of state variable selection INS of Kalman filter
Figure BDA0002544858620000022
Velocity error v, position error p, gyro drift error and accelerometer zero offset error
Figure BDA0002544858620000023
The measurement of the Kalman filter selects the speeds of a y axis and a z axis in an IMU coordinate system, namely an a system, as measurement according to a dynamic zero-speed constraint condition:
Figure BDA0002544858620000031
deriving the conversion relation of speed from n system to a system by attitude matrix
Figure BDA0002544858620000032
Differentiating the above formula:
Figure BDA0002544858620000033
wherein v isa、vnVelocity vectors in an IMU coordinate system, namely an a system, and a navigation coordinate system, namely an n system are respectively;
Figure BDA0002544858620000034
is the attitude transformation moment between the corresponding coordinate systems;
Figure BDA0002544858620000035
is the attitude angle error;
further finishing to obtain:
Figure BDA0002544858620000036
extracting:
Figure BDA0002544858620000037
Figure BDA0002544858620000038
wherein the content of the first and second substances,
Figure BDA0002544858620000039
respectively attitude transformation matrix
Figure BDA00025448586200000310
Second, three line vectors;
the measurement matrix is:
Figure BDA00025448586200000311
the invention has the advantages that:
(1) the invention designs a navigation system error correction method based on the auxiliary position of a sea pipe node, which can provide accurate and effective position and attitude information for a submarine oil and gas pipe detection robot in real time.
(2) The invention fully considers that the test piece has certain uncertain factors in the development stage, so that the integrated navigation positioning system has certain adaptability and reliability;
(3) the invention has good universality and can be widely used in a navigation system of a deep sea operation type ROV;
(4) the invention overcomes the problem that the submarine oil and gas pipe detection robot is difficult to accurately position during long-endurance long-range underwater operation, and the submarine oil and gas pipe detection robot can realize submarine pipeline tracking and accurate positioning without floating out of the water surface for correction.
Drawings
FIG. 1 is a schematic diagram of a system;
FIG. 2 is a schematic diagram of a Kalman filtering based zero-speed correction;
FIG. 3 is a flow chart of the present invention.
Detailed Description
The invention will now be described in more detail by way of example with reference to the accompanying drawings in which:
with reference to fig. 1-3, the basic navigation system of the seabed oil and gas pipe detection robot consists of a strapdown inertial navigation system and a doppler velocimeter, and the strapdown navigation system consists of three orthogonally arranged fiber optic gyroscopes and three orthogonal angular velocimeters, and can measure the attitude of a carrier and a relatively accurate position in a short time; the Doppler current meter can measure the speed of the carrier relative to the sea bottom; the speed measured by the Doppler current meter can provide absolute speed reference for the strapdown navigation system, so that the speed error of the strapdown inertial navigation system is corrected, and more accurate position information is provided for a carrier. On the basis, the magnetic sensor carried by the submarine oil and gas pipe detection robot is used for detecting accurate position information of a submarine pipe node, the position information is corrected for the integrated navigation system in a dynamic zero-speed correction mode, and the system position detection precision is improved, so that the submarine oil and gas pipe detection robot with long voyage and long voyage can accurately detect the position of a problematic submarine pipe.
With reference to fig. 3, the working flow of the navigation system of the submarine pipeline detection robot is as follows:
step 1: the navigation system is initialized, and the strapdown navigation system carries out autonomous north finding to realize autonomous orientation;
step 2: before the submarine pipeline detection robot works, binding of an initial position and an initial speed under a dynamic condition is completed, and initial alignment is realized;
and step 3: the strapdown navigation system is combined with the Doppler current meter to realize real-time position resolving of the navigation system and provide accurate attitude and position information for the marine vessel detection robot;
and 4, step 4: the submarine pipeline is detected by the submarine pipeline detection robot, the state of the submarine pipeline is detected by moving along the pipeline, and when a corrosion point is detected, position information is output by the inertial navigation system to record the position information of the corrosion point of the submarine pipeline;
and 5: when the magnetic sensor detects a sea pipe node, recording the absolute position information of the sea pipe according to the sea pipe construction drawing, and eliminating the position error information of the navigation system by adopting dynamic zero-speed correction.
With reference to fig. 2, the kalman filter-based zero-velocity correction method is that when the carrier stops moving, the velocity and acceleration outputs of the inertial navigation system should be theoretically zero, and actually, due to the influence of system errors, gravitational field disturbance and other factors, the measurement value of the accelerometer is not zero, so that the system still has a certain velocity output value, that is, a "zero-velocity error". The zero-speed error is used as an observed quantity to carry out data processing, and the purpose of correcting the accumulated error of the inertial navigation system can be achieved. Generally, the use of the zero-velocity correction technique can improve the positioning accuracy of the inertial navigation system from 1n mile/h to the meter level.
The system equation of Kalman filtering is
Figure BDA0002544858620000051
Selecting attitude angle error of SINS
Figure BDA0002544858620000052
Velocity error v, position error p, gyro drift error and accelerometer zero offset error
Figure BDA0002544858620000053
As a state quantity of the kalman filter,
Figure BDA0002544858620000054
wherein the content of the first and second substances,
Figure BDA0002544858620000055
in the 15-dimensional state vector of equation (2), the state equation is directly formed by an error equation, and a gyroscope drift error and accelerometer error model is taken as follows:
Figure BDA0002544858620000056
FINSis a state transition matrix.
Figure BDA0002544858620000057
Wherein
Figure BDA0002544858620000061
Figure BDA0002544858620000062
Figure BDA0002544858620000063
Figure BDA0002544858620000064
INSIn order to drive the matrix for the noise,
Figure BDA0002544858620000065
in the formula, 0i×jZero matrix of I × j, Ii×iIs an identity matrix of i × i.
WINSIs system noise
WINS＝[ωgxωgyωgzωaxωayωaz]T(6)
Because the zero-speed correction technology corrects each error by using the difference between the speed information output by the inertial navigation system when the carrier stops moving and the actual carrier speed (the speed is zero when the carrier stops), the speed navigation calculation output results in the east direction and the north direction are selected as the measurement.
Figure BDA0002544858620000071
The measurement matrix is:
Figure BDA0002544858620000072
that is, in the zero-velocity correction process, kalman filtering is performed using the east-direction and north-direction velocity errors as the measurement amounts. After an accurate model is established, proper initial conditions and noise variances are selected, recursive operation is carried out through a Kalman filter to estimate various error quantities at the sampling moment, and therefore error compensation is carried out on inertial navigation.
The system equation of Kalman filtering is
Figure BDA0002544858620000073
Selecting the attitude angle error of INS by the state variable of the Kalman filter
Figure BDA0002544858620000074
Velocity error v, position error p, gyro drift error and accelerometer zero offset error
Figure BDA0002544858620000075
Measuring the quantity of the Kalman filter, according to a dynamic zero-speed constraint condition, selecting the speeds of a y axis and a z axis in an IMU coordinate system (a system) as the quantity measurement:
Figure BDA0002544858620000076
deriving the conversion relation of speed from n system to a system by attitude matrix
Figure BDA0002544858620000077
Differentiating the formula (10):
Figure BDA0002544858620000078
wherein v isa、vnVelocity vectors in an IMU coordinate system (a system) and a navigation coordinate system (n system) respectively;
Figure BDA0002544858620000079
is the attitude transformation moment between the corresponding coordinate systems;
Figure BDA00025448586200000710
is the attitude angle error.
Further elaboration on formula (11) can result in:
Figure BDA00025448586200000711
according to the formula (12), the following can be extracted:
Figure BDA0002544858620000081
Figure BDA0002544858620000082
wherein the content of the first and second substances,
Figure BDA0002544858620000083
respectively attitude transformation matrix
Figure BDA0002544858620000084
The second, three line vectors in (1).
The measurement matrix is:
Figure BDA0002544858620000085

Claims (2)

1. a navigation system error correction method based on the auxiliary position of a sea pipe node is characterized by comprising the following steps:
(1) the navigation system is initialized, and the strapdown navigation system carries out autonomous north finding to realize autonomous orientation;
(2) before the submarine pipeline detection robot works, binding of an initial position and an initial speed under a dynamic condition is completed, and initial alignment is realized;
(3) the strapdown navigation system is combined with the Doppler current meter to realize real-time position resolving of the navigation system and provide attitude and position information for the marine vessel detection robot;
(4) the submarine pipeline is detected by the submarine pipeline detection robot, the state of the submarine pipeline is detected by moving along the pipeline, and when a corrosion point is detected, position information is output by the inertial navigation system to record the position information of the corrosion point of the submarine pipeline;
(5) when the magnetic sensor detects a sea pipe node, recording the absolute position information of the sea pipe according to the sea pipe construction drawing, and eliminating the position error information of the navigation system by adopting dynamic zero-speed correction.
2. The navigation system error correction method based on the auxiliary position of the marine vessel node as claimed in claim 1, wherein: the zero-speed correction method specifically comprises the following steps:
the system equation of Kalman filtering is
Figure FDA0002544858610000011
Attitude angle error of state variable selection INS of Kalman filter
Figure FDA0002544858610000012
Velocity error v, position error p, gyro drift error and accelerometer zero offset error
Figure FDA0002544858610000013
The measurement of the Kalman filter selects the speeds of a y axis and a z axis in an IMU coordinate system, namely an a system, as measurement according to a dynamic zero-speed constraint condition:
Figure FDA0002544858610000014
deriving the conversion relation of speed from n system to a system by attitude matrix
Figure FDA0002544858610000015
Differentiating the above formula:
Figure FDA0002544858610000021
wherein v isa、vnVelocity vectors in an IMU coordinate system, namely an a system, and a navigation coordinate system, namely an n system are respectively;
Figure FDA0002544858610000022
is the attitude transformation moment between the corresponding coordinate systems;
Figure FDA0002544858610000023
is the attitude angle error;
further finishing to obtain:
Figure FDA0002544858610000024
extracting:
Figure FDA0002544858610000025
Figure FDA0002544858610000026
wherein the content of the first and second substances,
Figure FDA0002544858610000027
respectively attitude transformation matrix
Figure FDA0002544858610000028
Second, three line vectors;
the measurement matrix is:
Figure FDA0002544858610000029
CN202010557621.5A 2020-06-18 2020-06-18 Navigation system error correction method based on auxiliary position of sea pipe node Pending CN111750863A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116295511A (en) * 2022-12-16 2023-06-23 南京安透可智能系统有限公司 Robust initial alignment method and system for pipeline submerged robot

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CN110553646A (en) * 2019-07-30 2019-12-10 南京林业大学 Pedestrian navigation method based on inertia, magnetic heading and zero-speed correction
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CN116295511A (en) * 2022-12-16 2023-06-23 南京安透可智能系统有限公司 Robust initial alignment method and system for pipeline submerged robot
CN116295511B (en) * 2022-12-16 2024-04-02 南京安透可智能系统有限公司 Robust initial alignment method and system for pipeline submerged robot

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Application publication date: 20201009