JP2008116383A - Detecting technique of conduit line position - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To implement position detection with a high degree of accuracy by correcting the error at initial azimuthal angle at a known point position of which is known preliminarily on a conduit line. <P>SOLUTION: The detecting technique of conduit line is a technique in which, by correcting the error (ε°) of an initial azimuthal angle of the conduit line position measuring device (1) at a known point position of which is known on a conduit line (2), the correct position is detected on the conduit line (2). <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a method for detecting a pipe position, and in particular, by correcting an error in the initial azimuth angle detected by the pipe measuring device at a known point on the pipe, the position error caused by the initial azimuth error is removed, The present invention relates to a new improvement for accurately measuring the position of a pipeline.

  Conventionally, as a method for detecting the position of this kind of pipe line, which has been used in-house, it has not been filed for in-house production. The position of the pipeline was measured using the attitude angle, the azimuth angle, and the velocity output from the pipeline position measuring device.

Since the conventional method for detecting the pipe position is configured as described above, the following problems exist.
That is, when the position of the pipeline is measured using the attitude angle / azimuth angle and velocity output from the pipeline position measuring device, the velocity vector is correctly determined by the initial azimuth angle error of the device and the X-axis direction of the pipeline location measuring device. And since it cannot be disassembled in the Y-axis direction, it is difficult to measure the correct position.

  A method for detecting a pipeline position according to the present invention uses a pipeline position measuring device provided in a pipeline and having an attitude azimuth sensor, and the pipeline position detection method for detecting the pipeline position of the pipeline, Correcting the error of the initial azimuth angle of the pipe position measuring device at a known point whose position is known in advance on the pipeline eliminates the position error resulting from the error of the initial azimuth angle, and correct the position of the pipeline There is a way to detect.

Since the method for detecting a pipeline position according to the present invention is configured as described above, the following effects can be obtained.
That is, the position of the pipeline can be correctly detected by correcting the error of the initial azimuth angle of the pipeline position measuring device at a known point whose position is known in advance on the pipeline.

  The present invention corrects the error of the initial azimuth angle detected by the pipe measuring device at a known point on the pipe, thereby removing the position error resulting from the initial azimuth error and accurately measuring the position of the pipe. It is an object of the present invention to provide a method for detecting a pipeline position.

A preferred embodiment of a method for detecting a pipeline position according to the present invention will be described below with reference to the drawings.
FIG. 1 is a conceptual diagram showing an overall configuration of a method for detecting a pipeline position according to the present invention, and shows a basic configuration in the case where the position of a pipeline 2 is measured using a pipeline position measuring apparatus 1.

In the configuration of FIG. 1, the cable speed V of the cable 3 for pulling the pipe position measuring device 1 is determined from the attitude / azimuth angle sensor 4 shown in FIG. The position of the pipeline 2 is calculated as a relative position from the origin 5 by decomposing it into two vectors V _x and V _y using the output of, and integrating these V _x and V _y .
Although FIG. 1 shows the case of the XZ plane, the XY plane can be similarly detected.

Next, a procedure for correcting the azimuth angle error of the pipe position measuring apparatus 1 with a known point whose position is previously known on the pipe 2 will be described below.
(Initial azimuth setting)
First, the pipe position measuring device 1 is installed on the pipe 2 and the initial attitude angle is detected by the attitude azimuth sensor 4.
At this time, the posture and azimuth are set to 0 ° with respect to the pipe line 2, but since there is actually a gap between the pipe position measuring device 1 and the pipe line 2, this gap (gap) Gives an error in the initial azimuth angle, and this error is ε ° as shown in FIG.

(Pipe line measurement)
Next, the pipeline position measuring device 1 is moved along the pipeline 2 to an arbitrary point, and the position of the pipeline 2 is measured from the attitude / azimuth and speed output by the pipeline position measuring device 1. .
At this time, the position error (ΔX, ΔY) is generated due to the error ε ° of the initial azimuth as shown in FIG.

(Correction of initial azimuth error of pipe measuring device)
If the position of the pipeline 2 is known in advance at the position 0010 of the pipeline measurement described above (that is, referred to as a known point), the error ε ° of the initial azimuth is calculated backward from the position error (ΔX, ΔY). The error of the initial azimuth angle can be corrected, and the correct position of the pipe line 2 can be detected.
In the case described above, GPS surveying is effective as means for obtaining the known point.

  The above-described method is an example in which the correction amount is obtained with all measured errors as the initial azimuth angle error ε °. The error ε ° includes the accelerometer bias error, SF error, and gyro bias. Since errors due to errors are also included, each of these errors can be estimated together with the error of the initial azimuth using a known Kalman filter.

It is a conceptual diagram of the detection method of the pipe line position by this invention. It is an enlarged view which shows the principal part of FIG. It is explanatory drawing which shows the position error by the error of the initial azimuth in FIG.

Explanation of symbols

1 Pipeline position measuring device 2 Pipeline 3 Cable 4 Attitude / azimuth angle sensor 5 Origin V Cable speed

Claims (1)

In the pipeline position detection method for detecting the pipeline position of the pipeline (2) using the pipeline position measuring device (1) having the posture azimuth sensor (4) provided in the pipeline (2),
By correcting the error (ε °) in the initial azimuth of the pipe position measuring device (1) at a known point whose position is known in advance on the pipe (2), the error in the initial azimuth (ε A position error (ΔX, ΔY) resulting from (°), and a correct position of the pipe (2) is detected.

Images