CN114414461A - Protective potential satellite synchronous measurement device with positioning current pipeline and method - Google Patents
Protective potential satellite synchronous measurement device with positioning current pipeline and method Download PDFInfo
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 59
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- 238000004210 cathodic protection Methods 0.000 description 11
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- 229910000831 Steel Inorganic materials 0.000 description 4
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- 239000010959 steel Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000028161 membrane depolarization Effects 0.000 description 3
- 238000013500 data storage Methods 0.000 description 2
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Abstract
The invention discloses a protective potential satellite synchronous measuring device with a positioning current pipeline, which is applied to the measurement of pipeline protective potential in the corrosion detection engineering of an underwater pipeline, realizes a satellite synchronous detection signal transmitter and a pipeline cathode protection current satellite synchronous current breaker related in the invention based on ephemeris and pulse per second synchronous signals of a Beidou satellite, implements strict synchronization between underwater pipeline protective potential detecting devices, eliminates the interference of positioning heavy current on the measurement process of the underwater pipeline protective potential, ensures the correctness of a detection result, and implements the on/off position acquisition function of an impressed current cathode protection system on the premise of not closing a pipeline positioning signal.
Description
Technical Field
The invention relates to the technical field of measurement of protection potential of underwater steel pipelines of rivers, in particular to a device and a method for synchronously measuring a protection potential satellite with a positioning current pipeline.
Background
Corrosion detection of underwater steel pipelines of rivers belongs to the technical field emerging in recent years, and conventional projects comprise: the method comprises the following steps of pipeline routing detection, pipeline burying depth measurement, outer anticorrosive layer defect detection, on/off position acquisition of an impressed current cathodic protection system and the like. The route detection, the buried depth measurement and the outer corrosion protection layer defect detection of the pipeline need to apply low-frequency and high-power detection signal current to the pipeline at an onshore test pile of the pipeline. This detection current is superimposed with the cathodic protection current of the pipeline itself. The influence of the alternating current on the protection effect of the pipeline can be ignored, but when the phase of the alternating current is not controlled, uncontrollable periodic interference can be formed on the protection potential measurement of the pipeline. The actual protection potential of the pipe must be measured under normal conditions when the positioning current is switched off. Due to the technical limitation, the underwater pipeline corrosion detection project cannot be implemented simultaneously, and the implementation efficiency of the detection project is greatly reduced.
In addition, when a pipeline with a plurality of cathodic protection current sources is subjected to close-spaced potential measurement, a plurality of satellite synchronous current breakers are required to be applied to modulate all the cathodic protection current sources, all the various current sources which apply current to the pipeline on the pipeline are disconnected during the collection of the cathodic protection current level, and the current sources are strictly synchronized with the on-off current sources at the collection time of the on/off protection level of the pipeline. The current sources may be distributed at a plurality of positions along the pipeline, the distance may be hundreds of kilometers, the precise synchronization of the current sources is realized, a standard and reasonable synchronization mode is required to be established, and a synchronous signal source which is convenient to obtain and accurate enough is required, so that the detection method in the prior art can not achieve the synchronization effect.
Disclosure of Invention
The invention aims to solve the problem that the large current for positioning the underwater pipeline interferes the protection potential measurement process in the river underwater pipeline detection process. By using ephemeris and pulse per second synchronous signals of a Beidou satellite, the aim of accurately measuring the cathode protection off potential (real protection potential) on the pipeline is fulfilled by controlling the synchronous output of signals of a plurality of satellite synchronous detection signal transmitters and synchronously controlling the on-off of cathode protection current of a satellite synchronous current breaker and accurately controlling the acquisition time of the protection potential on the premise of not switching off a positioning current signal on the pipeline.
The device and the method for synchronously measuring the protection potential of the pipeline with the positioning current by the satellite are applied to the omnibearing corrosion detection process of the underwater pipeline of the river pipeline, and the detection robot controls the submerged ROV to carry out pipeline position detection and the thickness detection of the soil covering layer above the pipeline on the horizontal level, and simultaneously realizes the close interval measurement of the protection potential of the pipeline. The measuring method has the advantages of simplicity and convenience in operation, high detection efficiency, sufficient result precision, strong practicability and the like.
The invention provides a protection potential satellite synchronous measurement device with a positioning current pipeline, which comprises two satellite synchronous positioning signal transmitters, wherein the two satellite synchronous positioning signal transmitters are respectively arranged on test piles at two sides of an underwater crossing section of a river to be detected; the satellite synchronous positioning signal transmitter is provided with a Beidou satellite receiving antenna; the protection potential satellite synchronous measurement device also comprises a pipe section under test negative protection current source; the pipe section cathode current protection source to be tested is connected with the pipe to be tested through a pipe cathode current protection satellite synchronous current breaker; the pipeline cathode protection current satellite synchronous cutout is connected with a Beidou satellite receiving antenna; the protective potential satellite synchronous measurement device also comprises an underwater pipeline protective current potential measurement device; the underwater pipeline protection current potential measuring device is carried on a River-ROV; a signal conditioning and AD conversion module in the underwater pipeline protection current potential measuring device is submerged underwater along with River-ROV to be close to the underwater pipeline and is used for measuring the protection potential; the River-ROV control end and a Beidou satellite receiving antenna of the underwater pipeline protection current potential measuring device are arranged on a detected work mother ship; one tail wire of the underwater pipeline protection current potential measuring device is connected with a pipeline to be measured through one of the test piles; and the other measuring connecting line of the underwater pipeline protection current potential measuring device is connected to a River-ROV.
The invention also provides a method for protecting a potential satellite synchronous measuring device with a positioning current pipeline, which comprises the following steps:
step S1: synchronously controlling the pipeline to be detected by using a Beidou satellite;
firstly, a signal conditioning and AD conversion module in the underwater pipeline protection current potential measuring device is submerged underwater along with a River-ROV to be close to the underwater pipeline, and a River-ROV control end and a Beidou satellite receiving antenna of the underwater pipeline protection current potential measuring device are on a detected working mother ship; then applying a satellite synchronous positioning signal transmitter to apply a pipeline detection heavy current to the pipeline to be detected, wherein the frequency of the signal is 128Hz or 640 Hz; applying a pipeline negative protection current satellite synchronous current breaker to implement synchronous interruption on a negative protection current source of a pipe section to be detected, wherein the section mode is 4-second on and 1-second off; all detection equipment realizes strict synchronization based on ephemeris and pulse-per-second signals of the Beidou satellite, and the synchronization precision is 10-6s。
Step S2: electrified position measurement of underwater pipeline with positioning current
The protection on-state potential measurement of the underwater pipeline is set to start 4 seconds after the protection current is cut off (the on-off mode is 4 seconds for on-off and 1 second for off, and 3 seconds after the protection current is switched on), and for the pipeline with the positioning current, the measured potential is the potential value superposed by the protection current and the positioning current. Because the positioning current is an alternating current signal of 128Hz or 640Hz, 32 periods of the positioning current are collected at a set AD sampling frequency after the second pulse of the Beidou satellite is received, and an arithmetic mean value is calculated for each period to obtain 32 electrifying bit data; under the condition that the pipeline cathode protection current satellite synchronous breaker is switched on, the potential value without the positioning current can be considered to be kept unchanged during the measurement, and the average value of 32 measurements is calculated again to be used as the protection switching-on potential after the influence of the positioning current on the pipeline is eliminated;
step S3: power-off position measurement of underwater pipeline with positioning current
The protection "off" power-on level measurement of the underwater pipeline is set to start 200 milliseconds after the protection current is switched off so as to avoid the anode peak at the moment when the cathode current is switched off. And for the pipeline with the positioning current, the measured potential is the potential value of the superposition of the protection current and the positioning current. During the potential acquisition period, the pipeline is in a slow depolarization process, the real protection potential is in a trend of becoming smaller, the real value of the off potential can not be calculated by the method same as the on potential, the protection power supply is disconnected 200ms after the second pulse of the Beidou satellite is received, 32 periods of positioning current are acquired at the set AD sampling frequency, and the arithmetic mean value is calculated for each period to obtain 32 potential data; based on the 32 groups of measured potential data, fitting a descending trend of the real protection potential of the pipeline by using a least square method and applying a linear formula of y ═ ax + b; the parameter b is the power-off position of the pipeline under the condition of eliminating the interference of the positioning current, namely the real protection potential of the pipeline.
The invention discloses a protection break potential calculation principle and a calculation basis:
defining: the underwater pipeline positioning current signal frequency is f; and measuring the pipe ground potential value of the pipe with the positioning current as yi after the protection current is disconnected for 200ms, wherein i is 0,1,2 and … … 31.
The least-squares method is applied to the image,
1) let the linear equation y be ax + b: slope a, y-intercept b
2) Known point sets (0, y0), (1, y1), (2, y2), … … (31, y31)
3) Summing the squared errors from point to line
Order:
4) let b be considered a parameter, and deta be a quadratic function.
When in use
At that time, the amount of deta is the smallest possible,
wherein
And
the arithmetic mean of the measured values for y and x, respectively, substituting a into equation (1) yields:
5) deta can be regarded as a quadratic function of b, requiring its minimum value, only:
6) the obtained b is the intercept of the fitting straight line, namely the 'off' potential of the protection potential of the pipeline with the positioning current. Since the off-potential has eliminated the effect of IR drop produced by the cathode-protected current, it is closest to the true protection potential of the pipe.
The beneficial effects of the invention are as follows:
the method is applied to the measurement of the pipeline protection potential in the underwater pipeline corrosion detection project. The satellite synchronous detection signal transmitter, the pipeline cathode protection current satellite synchronous current breaker and the underwater pipeline protection potential detection device are strictly synchronized based on ephemeris and pulse per second synchronous signals of the Beidou satellite, the interference of positioning heavy current on the underwater pipeline protection potential measurement process is eliminated, the correctness of a detection result is ensured, and the on/off position acquisition function of an impressed current cathode protection system is realized on the premise of not closing a pipeline positioning signal. Its advantages include:
1) the method measures the on/off potential of the cathodic protection of the pipeline in the pipeline positioning process under the condition of not switching off the positioning current on the pipeline, greatly improves the implementation convenience of the corrosion detection of the underwater pipeline of the river, improves the measurement precision, and has low operation requirement and wide applicability.
2) The invention uses the broadcast signal of the Beidou satellite, can realize the measurement function of the invention in all weather, all-time, high reliability and high safety in the global range, does not need to add additional equipment, and has simple structure and low cost of detection equipment.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a protective potential satellite synchronous measuring device with a positioning current pipeline according to the present invention;
FIG. 2 is a schematic diagram of the control of the measurement timing of the cathodic protection on/off potential of the pipeline;
FIG. 3 is a schematic diagram of a process for calculating the real protection potential data of a pipeline by using a least square method.
Fig. 4 is a structural diagram of a real protection potential measuring device for a pipeline, which is formed by applying the invention. .
In the figure: the system comprises a satellite synchronous positioning signal transmitter, a 2 Beidou satellite receiving antenna, a 3 pipeline Yin Bao current satellite synchronous current breaker, a 4River-ROV, a 5 testing pile, a 6 working mother ship, a 7 pipeline to be tested, an 8 Beidou satellite and a 9 potential measuring tail wire.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The invention provides a protection potential satellite synchronous measurement device with a positioning current pipeline, which comprises two satellite synchronous positioning signal transmitters 1 respectively arranged on test piles 5 at two sides of an underwater crossing section of a river to be detected, as shown in figure 1; the satellite synchronous positioning signal transmitter 1 is provided with a Beidou satellite receiving antenna 2; the protection potential satellite synchronous measurement device also comprises a pipe section under test negative protection current source; the pipe section cathode current protection source to be tested is connected with the pipe to be tested through a pipe cathode current protection satellite synchronous current breaker 3; the pipeline cathode current-protection satellite synchronous cutout 3 is connected with a Beidou satellite receiving antenna 2; the protective potential satellite synchronous measurement device also comprises an underwater pipeline protective current potential measurement device; the underwater pipeline protection current potential measuring device is carried on River-ROV 4; a signal conditioning and AD conversion module in the underwater pipeline protection current potential measuring device is submerged along with River-ROV4 to be close to the underwater pipeline for implementing the measurement of protection potential; the control end of River-ROV4 and the Beidou satellite receiving antenna 2 of the underwater pipeline protection current potential measuring device are arranged on a detected mother ship; one tail wire of the underwater pipeline protection current potential measuring device is connected with a pipeline 7 to be measured through one of the test piles; and the other measuring connection of the underwater pipeline protection current potential measuring device is connected to River-ROV 4.
In another aspect, a method for protecting a potential satellite synchronous measurement device with a positioning current pipeline is provided, which comprises the following steps:
step S1: synchronously controlling the pipeline to be detected by using a Beidou satellite;
as shown in fig. 1, firstly, submerging a signal conditioning and AD conversion module in the underwater pipeline protection current potential measuring device into the underwater pipeline along with River-ROV4 to be close to the underwater pipeline as much as possible, wherein a control end of the River-ROV4 and a Beidou satellite receiving antenna 2 of the underwater pipeline protection current potential measuring device are on a detected mother ship 6; then applying a pipeline detection heavy current to the pipeline to be detected by using a satellite synchronous positioning signal transmitter 1, wherein the frequency of a signal is 128Hz or 640 Hz; a pipeline negative current protection satellite synchronous current breaker 3 is used for implementing synchronous interruption on a negative current protection current source of a pipe section to be detected, wherein the section mode is 4-second on and 1-second off; all detection equipment realizes strict synchronization based on ephemeris and pulse-per-second signals of Beidou satellite 8, and the synchronization precision is 10-6s。
Step S2: electrified position measurement of underwater pipeline with positioning current
As can be seen from fig. 2, the protection "on" potential measurement of the underwater pipeline is set to start 4 seconds after the protection current is turned off (the on-off mode is 4 seconds on and 1 second off, and 3 seconds after the protection current is turned on). And for the pipeline with the positioning current, the measured potential is the potential value of the superposition of the protection current and the positioning current. Because the positioning current is an alternating current signal of 128Hz or 640Hz, 32 periods of the positioning current are collected at a set AD sampling frequency after receiving the second pulse of the Beidou satellite 8, and an arithmetic mean value is calculated for each period to obtain 32 electrifying bit data; under the condition that the pipeline cathode protection current satellite synchronous breaker 3 is switched on, the potential value without positioning current can be considered to be kept unchanged during the measurement, and the average value of 32 measurements is calculated again to be used as the protection switching-on potential after the influence of the positioning current on the pipeline is eliminated;
step S3: power-off position measurement of underwater pipeline with positioning current
As can be seen from fig. 2, the protection "off" current potential measurement of the subsea pipeline is set to begin 200 milliseconds after the protection current is turned off to avoid the anodic peak at the moment of the cathodic protection current turn off. And for the pipeline with the positioning current, the measured potential is the potential value of the superposition of the protection current and the positioning current. During the potential acquisition period, the pipeline is in a slow depolarization process, the real protection potential is in a trend of becoming smaller, and the real value of the off potential cannot be calculated by the same method as the on potential. After receiving pulse per second of the Beidou satellite 8, 200ms after the protection power supply is disconnected, acquiring 32 periods of positioning current at a set AD sampling frequency, and calculating an arithmetic average value for each period to obtain 32 potential data; based on the 32 groups of measured potential data, fitting a descending trend of the real protection potential of the pipeline by using a least square method and applying a linear formula of y ═ ax + b; the parameter b is the power-off position of the pipeline under the condition of eliminating the interference of the positioning current, namely the real protection potential of the pipeline.
It should be noted that: the on/off potential measurement process of cathodic protection of a pipeline without positioning current is shown in figure 2, and the correct potential measurement should be based on the moment when the cathodic protection current is disconnected. The measurement of the "on" potential is carried out at a certain time before the cathode current is cut off; since the dip produces a power-off spike (also called an anodic peak) on the pipe at the moment of disconnection, it is generally considered to be the result of the reactance of the pipe itself. The amplitude of the anodic peak may be as high as 200mV in some cases; if the 'off' potential on the pipeline is measured at the moment when the cathode protection current is disconnected, the real protection potential of the pipeline cannot be correctly obtained. The time from the anode peak to the most accurate off-potential measuring point is generally in the range of 10-50 ms.
Taking the cathodic protection potential measurement method of the underwater steel pipeline of the river with the positioning current as an example,
1) and (3) hardware implementation:
a PIC24FJ256G type microprocessor is used as a controller, a high-speed AD converter ADS8343EB is used as an acquisition core component, a front-end signal conditioning circuit forms a potential data acquisition module, and an operation keyboard, a display screen, a data storage module and the like are assisted to form the river underwater pipeline protection potential measuring device. And (3) completing: the pipeline has the functions of measuring ground potential, controlling a detection circuit, calculating a detection result in real time, storing result data, managing a power supply, detecting and displaying parameter setting, operating and the like.
The PIC24FJ256G type microprocessor has the following resources:
A. the clock frequency is 100 MHz.
B. Have 2 serial ports that have the SPI function, 3 ordinary serial ports.
C. Data memory extension 64K (16 bits), program/data memory 64K above.
D. And the external color display liquid crystal display screen is connected with the SPI port, and the resolution ratio is 1024X 768.
The main parameters of the ADC module ADS8343EB are:
sampling resolution 16bit, 2/4 sampling channel, serial data interface, sampling ratio: 100kS/s
Inputting types: Differential/Single-Ended, working power supply voltage 2.7V-5.25V.
2) The detection method is realized as follows:
the equipment for implementing the corrosion detection application of the river underwater pipeline comprises: two satellite synchronous positioning signal transmitters 1 are respectively arranged on the test piles 5 at two sides of the underwater crossing section of the river to be detected. Applying a positioning detection signal to the pipeline, wherein the current frequency of the applied signal is 128 Hz; the synchronous current breaker 3 of the pipeline cathode protection current satellite is characterized in that 1-2 cathode protection current on-off modes are set according to the cathode protection current source distribution condition of a pipe section to be detected: the mode is 1 second, off 4 seconds on. The protection current is turned off at the time of integral multiple of 5 seconds of 0, 5 and 10 … in the ephemeris broadcast by the Beidou satellite; the current was switched on after 1 second.
The underwater pipeline protection potential measuring device is carried on River-ROV4, and a connecting wire of the potential measuring device is connected with the pipeline at a test pile on the shore through a tail wire; the other measuring line is connected to a saturated copper sulfate reference electrode, and a signal conditioning and AD conversion module in the measuring device carries out measurement of protective potential along with River-ROV (submerged underwater, as close to an underwater pipeline as possible).
The detection process is that a detector controls an ROV to submerge to a nearby riverbed of a target pipeline from the water surface, and after the pipeline position is calibrated by applying a positioning function, a potential acquisition device is used under the condition of not closing the cathode protection current of the pipeline. And measuring the protection potential of the steel pipeline below the riverbed, and respectively measuring the power-on potential and the power-off potential of the underwater pipeline to finish calculation, display and data storage of a measurement result.
[ EXAMPLES ]
1. And (5) designing a time sequence. The frequency of the positioning signal for the underwater pipeline of the river adopts 128 Hz.
Calculating a time sequence: the frequency f of the detection signal is 128Hz, and the time required for a complete signal is 7812.5 mus. Half-wave time 0.5t 781 mus was used. The trigger response time of the relay is 0.1 mus, and the corresponding time of the switch-off is 0.9 mus. And controlling the time sequence to remove the response time of the solid-state relay. The selection is that the off-potential is measured after the relay turns off the protection current for 200 ms. And measuring the protection on potential 3 seconds after the relay is switched on. The on-off potentials are respectively collected for 32 periods,
The specific timing is that the sampling frequency of the ADS8343EB is set to 12800Hz, so that 100 data are sampled in each period of the positioning current. An arithmetic mean was calculated for each cycle of data by PIC24FJ 256G.
2. Calculation of measurement results
After the data acquisition is completed, the data of the on-off potential is respectively processed by the PIC24FJ 256G. The on potential: calculating the arithmetic mean value of the 32 groups of data, and then calculating the mean value to be used as a power-on position for protecting the pipeline;
and (3) respectively matching the off potentials, wherein the method for calculating the mean value of 2 groups of acquisition is the same as that of the on potentials, and fitting a depolarization curve of the protection potential by using a least square method on 32 mean values. The intercept b is the power-off position of the pipeline protection, and the calculation procedure of the least square method fitting straight line y ═ ax + b is as follows.
3. And (3) calculating a program:
example of a procedure for calculating the protection on-potential with localized current using the least squares method:
the above is only one embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.
Claims (2)
1. A protection potential satellite synchronous measurement device with a positioning current pipeline is characterized by comprising two satellite synchronous positioning signal transmitters (1) which are respectively arranged on test piles (5) at two sides of an underwater crossing section of a river to be detected; the satellite synchronous positioning signal transmitter (1) is provided with a Beidou satellite receiving antenna (2); the protection potential satellite synchronous measurement device also comprises a pipe section under test negative protection current source; the pipe section cathode current protection source to be tested is connected with the pipe to be tested through a pipe cathode current protection satellite synchronous current breaker (3); the pipeline cathode current-protection satellite synchronous cutout (3) is connected with a Beidou satellite receiving antenna (2); the protective potential satellite synchronous measurement device also comprises an underwater pipeline protective current potential measurement device; the underwater pipeline protection current potential measuring device is carried on a River-ROV (4); a signal conditioning and AD conversion module in the underwater pipeline protection current potential measuring device is submerged along with a River-ROV (4) to be close to the underwater pipeline for implementing the measurement of protection potential; the control end of the River-ROV (4) and a Beidou satellite receiving antenna (2) of the underwater pipeline protection current potential measuring device are arranged on a detected working mother ship; one tail wire of the underwater pipeline protection current potential measuring device is connected with a pipeline (7) to be measured through one of the test piles; and the other measuring connecting line of the underwater pipeline protection current potential measuring device is connected to a River-ROV (4).
2. A method for protecting potential satellite synchronous measurement device with positioning current pipeline based on claim 1, which is characterized by comprising the following steps:
step S1: synchronously controlling the pipeline to be detected by using a Beidou satellite;
firstly, a signal conditioning and AD conversion module in the underwater pipeline protection current potential measuring device is submerged along with a River-ROV (4) to be close to an underwater pipeline, and a control end of the River-ROV (4) and a Beidou satellite receiving antenna (2) of the underwater pipeline protection current potential measuring device are arranged on a detected working mother ship (6); then applying a large pipeline detection current to the pipeline to be detected by using a satellite synchronous positioning signal transmitter (1), wherein the frequency of a signal is 128Hz or 640 Hz; a pipeline negative protection current satellite synchronous current breaker (3) is used for implementing synchronous interruption on a negative protection current source of a pipe section to be detected, wherein the section mode is 4-second on and 1-second off;
step S2: electrified position measurement of underwater pipeline with positioning current
After receiving the pulse per second of the Beidou satellite (8), acquiring 32 periods of positioning current at a set AD sampling frequency, and calculating an arithmetic mean value for each period to obtain 32 pieces of electrifying bit data; under the condition that the satellite synchronous current breaker (3) of the pipeline cathode protection current is switched on, the potential value without the positioning current can be considered to be kept unchanged during the measurement, and the average value of 32 measurements is calculated again to be used as the protection switching-on potential after the influence of the positioning current on the pipeline is eliminated;
step S3: power-off position measurement of underwater pipeline with positioning current
After receiving pulse per second of a Beidou satellite (8), disconnecting a protection power supply for 200ms, collecting 32 periods of positioning current at a set AD sampling frequency, and calculating an arithmetic mean value for each period to obtain 32 potential data; based on the 32 groups of measured potential data, fitting a descending trend of the real protection potential of the pipeline by using a least square method and applying a linear formula of y ═ ax + b; the parameter b is the power-off position of the pipeline under the condition of eliminating the interference of the positioning current, namely the real protection potential of the pipeline.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114875417A (en) * | 2022-06-28 | 2022-08-09 | 天津市滨海新区检验检测中心 | System and method for eliminating CIPS potential detection interference caused by PCM current |
| CN115166838A (en) * | 2022-09-07 | 2022-10-11 | 浙江图维科技股份有限公司 | Method and system for positioning pipeline |
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| CN115166838B (en) * | 2022-09-07 | 2022-12-16 | 浙江图维科技股份有限公司 | Method and system for positioning pipeline |
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