CN114485642B - Oil gas pipeline fault positioning method based on inertial measurement - Google Patents
Oil gas pipeline fault positioning method based on inertial measurement Download PDFInfo
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- 238000005259 measurement Methods 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 238000001914 filtration Methods 0.000 claims abstract description 12
- 238000004364 calculation method Methods 0.000 claims abstract description 3
- 238000009434 installation Methods 0.000 claims description 28
- 239000011159 matrix material Substances 0.000 claims description 23
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- 239000003208 petroleum Substances 0.000 description 1
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Classifications
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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
- G01C21/10—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
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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Abstract
The invention discloses an oil gas pipeline fault positioning method based on inertial measurement, which adopts an MEMS inertial sensor to greatly reduce the volume of a pipeline inertial measurement device, can be used for fault measurement positioning of a small-caliber oil gas pipeline, and simultaneously carries out offline navigation calculation and error correction on data detected by the sensor through a self-adaptive strong tracking filtering algorithm under the condition of reducing the volume of the device, thereby obtaining an accurate fault position, greatly reducing the pipeline fault detection cost and improving the pipeline fault positioning precision.
Description
Technical Field
The invention relates to the technical field of inertial measurement of oil and gas pipelines, in particular to an oil and gas pipeline fault positioning method based on inertial measurement.
Background
The application of pipelines such as petroleum, fuel gas, tap water and the like needs to be periodically detected, monitored, maintained and the like, in the detection of the inside of the pipelines, fault positioning is very important working content, and the positioning accuracy directly determines the engineering quantity of subsequent maintenance and excavation. The conventional pipeline surveying and mapping inertial measurement device adopts a high-precision laser gyroscope or an optical fiber gyroscope as an angular velocity sensor to detect pipeline faults, but has the characteristics of high price and large volume, and cannot operate in a small-caliber oil and gas pipeline.
Disclosure of Invention
In view of the above, the present invention provides an oil and gas pipeline fault locating method based on inertial measurement, which is used for solving the problems in the prior art.
An oil gas pipeline fault positioning method based on inertial measurement specifically comprises the following steps:
s1, placing a pipeline pig carrying a pipeline inertia measurement device into an oil gas pipeline, and detecting faults in the oil gas pipeline;
s2, the pipeline inertia measurement device transmits the detected angular velocity signals, acceleration signals and forward speed of the odometer and satellite positioning data thereof when the detection is completed to a navigation positioning system;
s3, the navigation positioning system calculates a dead reckoning positioning position and a dead reckoning gesture matrix by utilizing a self-adaptive strong tracking filtering algorithm according to the received signals;
calculating a pitching installation deflection angle, an odometer scale coefficient error and a course angle installation deflection of the pipeline inertia measurement device according to the dead reckoning attitude matrix and satellite positioning data when the pipeline inertia measurement device completes detection;
s4, substituting the pitching installation deflection angle, the odometer scale coefficient error and the course angle installation deviation of the pipeline inertia measurement device into the self-adaptive strong tracking filtering algorithm to carry out navigation data recalculation, and correcting the dead reckoning positioning position to obtain the accurate positioning position with faults.
Preferably, the step of calculating the dead reckoning position and dead reckoning posture matrix by the navigation positioning system in the step S3 according to the received signal by using an adaptive strong tracking filtering algorithm includes:
establishing an odometer measurement coordinate system m, and outputting pulse of the odometerWherein v is D Forward velocity pulses measured for odometry;
obtaining attitude matrix of pipeline pig by using angular velocity signal detected by pipeline inertial measurement unitThe navigation coordinate system is a northeast day coordinate system n;
gesture matrix for pigs by utilizing pipelineOutput pulse of odometer->Conversion is carried out to obtain the output pulse +.>
The solution differential equation for dead reckoning position is:
R MhD ＝R MD +h D
R NhD ＝R ND +h D
wherein L is D 、λ D And h D Geographic latitude, longitude, and altitude, respectively, for dead reckoning a position; l (L) D0 、λ D0 And h D0 Initial geographic latitude, longitude and altitude for binding through a portal; r is R MD And R is ND The main curvature radiuses of the meridian circle and the mortise circle are respectively;
the solution differential equation of the dead reckoning attitude matrix is:
wherein,for detecting angular velocity signal, ω, of the pipe inertia measuring apparatus ie Is the rotational angular velocity of the earth.
Preferably, in step S3, the steps of calculating the pitch installation offset angle, the odometer scale coefficient error and the heading angle installation offset of the pipeline inertia measurement device according to the dead reckoning gesture matrix and satellite positioning data when the pipeline inertia measurement device completes detection are as follows:
the installation offset angle between the pipeline inertia measurement device and the pipeline pig is marked as alpha, alpha= [ alpha ] θ α γ α ψ ] T The state transition matrix is:
wherein alpha is θ The pitch angle between the pipeline inertia measuring device and the pipeline pig odometer is provided with deviation alpha γ For roll angle mounting deviation, alpha ψ Installing a deviation for the heading angle;
let the error of the graduation coefficient of the odometer delta K D Output speed of the odometerAnd its theoretical velocity magnitude v D The relation between->
The actual speed output of the odometer in the navigational coordinate system is:
wherein,φ D estimate value +.>And the true value->A small amount of misalignment angle exists between the two components, and the misalignment angle is obtained by estimation through a Kalman filtering algorithm;
according to satellite positioning time service information when the pipeline inertial measurement device completes detection, calculating a pitching installation deflection angle alpha of the pipeline inertial measurement device θ Error delta K of graduation coefficient of odometer D And heading angle installation deviation alpha ψ 。
Preferably, the pipeline inertia measurement device comprises an MEMS inertia instrument, an inertia instrument signal acquisition circuit, an industrial control main board and a power module, wherein the power module is used for supplying power to the MEMS inertia instrument, the inertia instrument signal acquisition circuit and the industrial control main board, and the MEMS inertia instrument is used for detecting acceleration signals and angular velocity signals and transmitting the detected signals to the industrial control main board through the inertia instrument signal acquisition circuit.
Preferably, the inertial instrument signal acquisition circuit is provided with a first serial interface and a TTL signal interface which are used for being connected with the satellite time service device, an odometer pulse signal input interface and a second serial interface which is used for being connected with the industrial control main board;
and a third serial interface, a network port and a USB interface are arranged on the industrial control main board.
Preferably, the industrial control main board is a PC104 board.
The beneficial effects of the invention are as follows:
the invention adopts the MEMS inertial sensor to greatly reduce the volume of the pipeline inertial measurement device, can be used for fault measurement and positioning of small-caliber oil and gas pipelines, and simultaneously carries out offline navigation calculation and error correction on data detected by the sensor through the self-adaptive strong tracking filtering algorithm under the condition of reducing the volume of the device, thereby obtaining accurate fault positions, greatly reducing the cost of pipeline fault detection and improving the precision of pipeline fault positioning.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of the present invention.
Fig. 2 is a schematic block diagram of a circuit of a pipeline inertial measurement unit.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention is described below by means of specific embodiments shown in the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that, although the terms first, second, third, etc. may be used in this disclosure to describe various information, these information should not be limited to these terms, but rather should not be construed as indicating or implying any relative importance. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.
In the following description, suffixes such as "module", "component", or "unit" for representing elements are used only for facilitating the description of the present invention, and are not of specific significance per se. Thus, "module" and "component" may be used in combination.
For a better understanding of the technical solution of the present invention, the following detailed description of the present invention refers to the accompanying drawings.
The invention provides an oil and gas pipeline fault positioning method based on inertial measurement, which specifically comprises the following steps:
s1, placing a pipeline pig carrying a pipeline inertia measurement device into an oil gas pipeline, and detecting faults in the oil gas pipeline.
The pipeline inertia measurement device comprises an MEMS inertia instrument, an inertia instrument signal acquisition circuit, an industrial control main board and a power module, wherein the power module is used for supplying power to the MEMS inertia instrument, the inertia instrument signal acquisition circuit and the industrial control main board, and the MEMS inertia instrument is used for detecting acceleration signals and angular velocity signals and transmitting the detected signals to the industrial control main board through the inertia instrument signal acquisition circuit.
The MEMS inertial instrument comprises three MEMS acceleration sensors and three MEMS gyroscopes.
The inertial instrument signal acquisition circuit is provided with a first serial interface and a TTL signal interface which are used for being connected with the satellite time service device, an odometer pulse signal input interface and a second serial interface which is used for being connected with the industrial control main board. And an RS485 interface for receiving welding seam information transmitted by the leakage magnetic sensor can be further arranged on the inertial instrument signal acquisition circuit.
And a third serial interface, a network port and a USB interface are arranged on the industrial control main board. In this embodiment, the industrial control motherboard is a PC104 board.
In this embodiment, the serial interface may be set as an RS232 interface, an RS422 interface, or an RS485 interface as needed.
S2, the pipeline inertia measurement device transmits the detected angular velocity signals, acceleration signals and forward speed of the odometer and satellite positioning data thereof when the detection is completed to a navigation positioning system, wherein the navigation positioning system can be a computer provided with navigation software.
S3, calculating a dead reckoning positioning position and a dead reckoning posture matrix by the navigation positioning system according to the received signals by utilizing a self-adaptive strong tracking filtering algorithm, wherein the method comprises the following specific implementation steps of:
establishing an odometer measurement coordinate system (marked as an m-system) and the oy in the m-system m Axis is directed directly in front of inertial measurement unit, oz m The axis is vertical to the ground plane and upwards is positive, ox m The axis is directed to the right, the output pulse odometer measurement coordinate system of the odometer can be expressed asWherein v is D The forward speed pulse measured by the odometer is zero in both the right and the sky speed;
the coordinate system (b system) of the pipeline inertia measurement device is coincident with the coordinate system (m system) of the odometer measurement.
The attitude matrix of the pipeline pig can be calculated by utilizing the angular velocity signal detected by the pipeline inertia measurement deviceThe navigation coordinate system is a northeast day coordinate system n;
gesture matrix for pigs by utilizing pipelineOutput pulse of odometer->Conversion is carried out to obtain the output pulse +.>
The solution differential equation for dead reckoning position is:
R MhD ＝R MD +h D
R NhD ＝R ND +h D
wherein L is D 、λ D And h D Geographic latitude, longitude, and altitude, respectively, for dead reckoning a position; l (L) D0 、λ D0 And h D0 Initial geographic latitude, longitude and altitude for binding through a portal; r is R MD And R is ND The main curvature radiuses of the meridian circle and the mortise circle are respectively;
the geographical latitude L of the dead reckoning position can be calculated by combining the formulas (1), (2), (3) and (4) D Longitude lambda D And height h D 。
The solution differential equation of the dead reckoning attitude matrix is:
wherein,an angular velocity signal detected by the pipeline inertia measurement device; omega ie The rotational angular velocity of the earth is about 15.0411 DEG/h.
Geographic latitude L for dead reckoning location D Longitude lambda D And height h D Substituting the dead reckoning gesture matrix into the formula (5) to obtain the dead reckoning gesture matrix
And then according to the dead reckoning attitude matrix and satellite positioning data when the pipeline inertia measuring device finishes detection, calculating the pitching installation deflection angle, the odometer scale coefficient error and the course angle installation deflection of the pipeline inertia measuring device, wherein the specific implementation steps are as follows:
since the installation offset angle exists between the coordinate system (b system) of the pipeline inertia measurement device and the coordinate system (m system) of the odometer measurement, the installation offset angle between the pipeline inertia measurement device and the pipeline pig can be marked as alpha, alpha= [ alpha ] θ α γ α ψ ] T The state transition matrix is:
wherein alpha is θ The pitch angle between the pipeline inertia measuring device and the pipeline pig odometer is provided with deviation alpha γ For roll angle mounting deviation, alpha ψ Installing a deviation for the heading angle;
let the error of the graduation coefficient of the odometer delta K D Output speed of the odometerAnd its theoretical velocity magnitude v D The relation between is that
The actual speed output of the odometer in the navigational coordinate system is:
wherein,C ij for phi D Estimate value +.>And the true value->A small amount of misalignment angle exists between the two components, and the misalignment angle is obtained by estimation through a Kalman filtering algorithm;
according to satellite positioning time service information when the pipeline inertia measurement device finishes detection, the pitching installation deflection angle alpha of the pipeline inertia measurement device can be calculated through the formula θ Error delta K of graduation coefficient of odometer D And heading angle installation deviation alpha ψ 。
S4, pitching installation deflection angle alpha of pipeline inertia measurement device θ Error delta K of graduation coefficient of odometer D And heading angle installation deviation alpha ψ Substituting the pitch installation offset angle alpha into the adaptive strong tracking filtering algorithm to perform navigation data recalculation θ Error delta K of graduation coefficient of odometer D And heading angle installation deviation alpha ψ Compensating to an initial geographical latitude, longitude and altitude L D0 、λ D0 And h D0 In the above, the dead reckoning position (the geographical latitude L of the dead reckoning position) is reckoned according to the formulas (3), (4) D Longitude lambda D And height h D ) Correcting to obtain the geographical latitude L of the new corrected dead reckoning and positioning position D Longitude lambda D And height h D Geographical latitude L of dead reckoning position according to corrected dead reckoning D Longitude lambda D And height h D The accurate positioning position of the fault can be judged.
It should be understood that the described embodiments are merely some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Claims (5)
1. The oil and gas pipeline fault positioning method based on inertial measurement is characterized by comprising the following steps of:
s1, placing a pipeline pig carrying a pipeline inertia measurement device into an oil gas pipeline, and detecting faults in the oil gas pipeline;
s2, the pipeline inertia measurement device transmits the detected angular velocity signals, acceleration signals and forward speed of the odometer and satellite positioning data thereof when the detection is completed to a navigation positioning system;
s3, the navigation positioning system calculates a dead reckoning positioning position and a dead reckoning gesture matrix by utilizing a self-adaptive strong tracking filtering algorithm according to the received signals, wherein the calculation steps are as follows:
establishing an odometer measurement coordinate system m, and outputting pulse of the odometerWherein v is D Forward velocity pulses measured for odometry;
obtaining attitude matrix of pipeline pig by using angular velocity signal detected by pipeline inertial measurement unitThe navigation coordinate system is a northeast day coordinate system n;
gesture matrix for pigs by utilizing pipelineOutput pulse of odometer->Conversion is carried out to obtain the output pulse +.>
The solution differential equation for dead reckoning position is:
R MhD ＝R MD +h D
R NhD ＝R ND +h D
wherein L is D 、λ D And h D Geographic latitudes respectively for dead reckoning positioning locationsLongitude and altitude; l (L) D0 、λ D0 And h D0 Initial geographic latitude, longitude and altitude for binding through a portal; r is R MD And R is ND The main curvature radiuses of the meridian circle and the mortise circle are respectively;
the solution differential equation of the dead reckoning attitude matrix is:
wherein,for detecting angular velocity signal, ω, of the pipe inertia measuring apparatus ie Is the rotation angular velocity of the earth;
calculating a pitching installation deflection angle, an odometer scale coefficient error and a course angle installation deflection of the pipeline inertia measurement device according to the dead reckoning attitude matrix and satellite positioning data when the pipeline inertia measurement device completes detection;
s4, substituting the pitching installation deflection angle, the odometer scale coefficient error and the course angle installation deviation of the pipeline inertia measurement device into the self-adaptive strong tracking filtering algorithm to carry out navigation data recalculation, and correcting the dead reckoning positioning position to obtain the accurate positioning position with faults.
2. The oil and gas pipeline fault locating method based on inertial measurement according to claim 1, wherein the step of calculating the pitch installation deflection angle, the odometer scale coefficient error and the heading angle installation deflection of the pipeline inertial measurement device according to the dead reckoning gesture matrix and satellite locating data when the pipeline inertial measurement device completes detection in the step S3 comprises the following steps:
the installation offset angle between the pipeline inertia measurement device and the pipeline pig is marked as alpha, alpha= [ alpha ] θ α γ α ψ ] T The state transition matrix is:
wherein alpha is θ The pitch angle between the pipeline inertia measuring device and the pipeline pig odometer is provided with deviation alpha γ For roll angle mounting deviation, alpha ψ Installing a deviation for the heading angle;
let the error of the graduation coefficient of the odometer delta K D Output speed of the odometerAnd its theoretical velocity magnitude v D The relation between->
The actual speed output of the odometer in the navigational coordinate system is:
wherein,φ D estimate value +.>And the true value->A small amount of misalignment angle exists between the two components, and the misalignment angle is obtained by estimation through a Kalman filtering algorithm;
according to satellite positioning time service information when the pipeline inertial measurement device completes detection, calculating a pitching installation deflection angle alpha of the pipeline inertial measurement device θ Error delta K of graduation coefficient of odometer D And heading angle installation deviation alpha ψ 。
3. The oil and gas pipeline fault locating method based on inertial measurement according to claim 1, wherein the pipeline inertial measurement device comprises an MEMS inertial instrument, an inertial instrument signal acquisition circuit, an industrial control main board and a power module, wherein the power module is used for supplying power to the MEMS inertial instrument, the inertial instrument signal acquisition circuit and the industrial control main board, and the MEMS inertial instrument is used for detecting acceleration signals and angular velocity signals and transmitting the detected signals to the industrial control main board through the inertial instrument signal acquisition circuit.
4. The oil and gas pipeline fault locating method based on inertial measurement according to claim 3, wherein the inertial instrument signal acquisition circuit is provided with a first serial interface and a TTL signal interface for being connected with a satellite time service device, an odometer pulse signal input interface and a second serial interface for being connected with an industrial control main board;
and a third serial interface, a network port and a USB interface are arranged on the industrial control main board.
5. The method for positioning the fault of the oil and gas pipeline based on the inertial measurement according to claim 3 or 4, wherein the industrial control main board is a PC104 board.
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| CN107228662A (en) * | 2017-06-05 | 2017-10-03 | 哈尔滨工程大学 | A kind of pipeline path positioner and localization method based on pipe jointer |
| CN111207744A (en) * | 2020-01-15 | 2020-05-29 | 哈尔滨工程大学 | Pipeline geographical position information measuring method based on thick tail robust filtering |
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- 2022-01-25 CN CN202210085781.3A patent/CN114485642B/en active Active
Patent Citations (5)
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| CN103697886A (en) * | 2012-09-28 | 2014-04-02 | 中国石油天然气股份有限公司 | Inertial navigation measurement method for pipeline center line |
| WO2015094015A1 (en) * | 2013-12-17 | 2015-06-25 | Открытое Акционерное Общество "Акционерная Компания По Транспорту Нефти" "Транснефть" (Оао "Ак "Транснефть") | Device and method for determining position of pipeline |
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