RU2197714C1 - System establishing coordinates of route of underground pipe-line - Google Patents

Abstract

FIELD: instrumentation. SUBSTANCE: system is meant to establish geographic coordinates of points on longitudinal axis of underground gas or oil pipe- line. System establishing coordinates of route of underground pipe-line has intratube inspection tool that comprises sealed container, elastic collars, path-control transducer, control and computation unit, register, three-component gyroscopic meter of angular velocity, three-component accelerometer, three rows of ultrasonic receiving- transmitting converters arranged over circumferences, accelerometer of wide measurement range along longitudinal axis of container, three amplifiers, signal transmitters of markers with analog-to-digital converter and controller, temperature- sensitive element. Ultrasonic receiving-transmitting converters are placed in pairs and diametrical opposition on outer surface, each row in nose, tail and center part of container includes n converters. Accelerometers are connected with their inputs to outputs of three-component meter of angular velocity. Accelerometer of wide measurement range, three amplifiers, signal transmitters of markers with analog- to- digital converter and controller, temperature-sensitive element are positioned inside container and are connected to register via first system bus. EFFECT: prevention of growth of error of establishment of coordinates of route of underground pipe- line in time. 1 cl, 4 dwg

Description

 The system relates to devices of instrumentation. It is designed to determine the geographical coordinates of the points of the longitudinal axis of the underground gas and oil pipeline using a strapdown inertial orientation and navigation system, as well as a track sensor and other devices installed on board the in-tube inspection projectile and on the ground.

 The prior art in this area is characterized by the following information.

 The well-known "Inertial pipeline control system" (Pat. USA 4945775, G 01 C 9/06, 1990), comprising a projectile carrier having several urethane scrapers for providing projectile movement, a strapdown inertial navigation system including a triad of accelerometers and gyroscopes, odometers , computer, devices and sensors of non-inertial nature for the diagnosis of the state of the pipeline. The disadvantage of this system is the complexity and necessity of using a strapdown inertial system and high accuracy odometers, which in many cases is unacceptable for implementation due to excessively high cost.

 There is an invention "A device for determining the location of a pipeline defect" (A. p. 1770750, G 01 D 5/00, 1992, BI 39), which contains marker stations installed along the pipeline, a flaw detector, and marker stations contain timers, and flaw detector –– highly stable timers and distance meters, while the device contains a synchronization and information storage unit, the sync output of which is connected to the synchrotimer input of each marker station, the synchrotimer input of the flaw detector, and the information input of the unit with information synchronization and storage is connected to the information output of the marker station.

 The disadvantage of this device is the lack of accuracy in determining the geographical coordinates of the pipeline route for the reason that they are determined with the necessary accuracy only for the installation sites of marker stations. Places of defects are attached to them only in time and distance along the pipe.

 The closest analogue of the invention is a "Device for determining and recording the geometric parameters of pipelines" (RF Patent 2102704, G 01 17/02, 1998, BI 2). The device contains a sealed container, elastic cuffs, rigidly fixed in the nose and tail of the sealed container, serially connected path sensor mounted on the outer surface of the container, a calculation and control unit and a recorder located inside the sealed container, an ultrasonic radial distance meter, consisting of n ultrasonic transceiver transducers arranged in pairs and diametrically opposite on the outer surface of the sealed container, and a measuring module located inside the container, the first group of outputs connected to the input bus, and the first group of inputs to the control bus of the calculation unit, the second group of outputs to the transmitters, and the second group of inputs to the receivers of the ultrasonic transceiver, and it is equipped with a three-component gyroscopic an angular velocity meter and a three-component accelerometer connected to the information inputs of the calculation unit, and the second and third ultrasonic radial p a similar state to the first, the first groups of their outputs are connected to the input bus, and the first group of inputs to the control bus of the calculation unit, while the ultrasonic transceiver transducers of one radial distance meter are located around the circumference in the bow of the container, the other meter in the middle of the container, the third - in the tail of the container, and the center of gravity of the container is shifted to the side surface.

 The disadvantage of this invention is the presence of increasing errors in time to determine the coordinates of the pipeline, to reduce which we need gyroscopes, accelerometers and odometers of high precision type, but this measure does not eliminate the accumulation of errors.

 The objective of the invention is to provide the possibility of eliminating the increase in time of errors in determining the coordinates of the pipeline route.

 The problem is solved due to the fact that in the system for determining the coordinates of the route of the underground pipeline, containing an in-tube inspection projectile, including a sealed container, elastic cuffs, rigidly fixed in the bow and tail parts of the container, serially connected path sensor mounted on the outer surface of the container, block computing and control and a recorder, a three-component gyroscopic angular velocity meter and a three-component accelerometer located inside the container a, three rows of ultrasound transceivers located around the circumference located in pairs and diametrically opposite on the outer surface, n in each row in the bow, tail and middle parts of the container, an accelerometer of a wide measuring range along the longitudinal axis of the container connected to the information inputs of the computing and control unit , three amplifiers connected by their inputs to the outputs of a three-component angular velocity meter, marker signal sensors with an analog-to-digital conversion The controller, controller and temperature sensor, which are located inside the container and connected through the first system bus to the recorder.

 In this case, the recorder is made in the form of a portable long-term storage device, and the calculation and control unit is in the form of an on-board processor and a ground subsystem consisting of data points for inputting marker points, switching ranges of gyroscopic angular velocity meters and switching longitudinal accelerometers, calculating correction signals for pitch angles and roll, calculation of estimates of orientation parameters, identification of the displacement of zeros, gyroscopic angular velocity meters and accelerometers, as well as matching, adder, Cartesian coordinates calculator, low-pass filter, vibration level detector and comparison device, the outputs of a portable long-term storage device through the channels for measuring angular velocities and linear accelerations are connected via a second system bus to the unit for switching ranges of angular velocity meters and accelerometers, the first the group of outputs of which is connected to the first group of inputs of the unit for identifying the displacement of zeros of gyroscopic angular velocity meters and axes lerometers and through the adder with the first groups of inputs of the unit for calculating estimates of orientation parameters and the unit for calculating correction signals for pitch and roll angles, the second group of inputs of which is connected to the second group of outputs of the unit for switching ranges of gyroscopic angular velocity meters and accelerometers, and two outputs are connected to the corresponding inputs a unit for calculating estimates of orientation parameters, the third input of which is connected via a second system bus and a matching device with one of the outputs of the input unit yes marker points, the other outputs of which through the matching device and the system bus are connected to the second group of inputs of the identification unit for the displacement of zeros of gyroscopic angular velocity meters and accelerometers, the third group of outputs of the portable long-term storage device through the second system bus are connected to the corresponding inputs of the blocks for calculating the correction signals for angles pitch and roll, identification of the displacement of zeros of inertial sensors, as well as a calculator of Cartesian coordinates, calculation of orientation parameters, the outputs of which are connected to the fourth group of inputs of the identification unit of the displacement of zeros of inertial sensors and the second group of inputs of the calculator of Cartesian coordinates, the outputs of which are connected to the fifth group of inputs of the identification of the displacement of zeros of gyroscopic angular velocity meters and accelerometers, the group of outputs of which is connected to the second group inputs of the adder, and two single outputs are connected to the corresponding inputs of the blocks for calculating estimates of orientation parameters and calculating with of pitch and roll angle correction signals, the output of a portable long-term storage device via a temperature measuring channel through a second system bus is connected to the corresponding input of an inertial sensor zero offset unit, in addition, ultrasonic transceiver transducers are connected through a second system bus, a low-pass filter, and a level detector vibration with the inputs of the comparison device.

 The invention is illustrated by drawings, in which Fig. 1 is a functional diagram of an onboard subsystem of an in-tube inspection projectile, Fig. 2 is a functional diagram of a ground subsystem for determining the coordinates of a pipeline route, Fig. 3 - a prototype inertial module of the on-board equipment of the system for determining the coordinates of the pipeline route, Fig. 4 is a graph of the trajectory of the projectile in the horizon plane determined as a result of processing, using ground equipment, the records of the sensors signals of the on-board equipment and marker data.

 The technical result that can be obtained by implementing this invention is the creation of a system for determining the coordinates of the route of an underground pipeline of high accuracy.

In Fig. 1 and Fig. 2, the following designations are adopted: 1, 2, 3 — gyroscopic angular velocity meters (GIUS) ω _x1 , ω _x2 , ω _x3 along the axes OX ₁ , OX ₂ , OX _{3 of an in} -tube inspection projectile; 4, 5, 6, 7 - accelerometers, and on the OX ₁ axis, accelerometers 4 and 5 measure the acceleration W _x1 , on the OX ₂ axis - the accelerometer 6, on the OX ₃ axis - the accelerometer 7; 8, 9, 10 - signal amplifiers GIUS 1, 2 and 3, respectively; 11 - temperature sensor inside the container, 12 - path sensor. The outputs of the GIUS 1, 2, 3, amplifiers 8, 9, 10, accelerometers 4, 5, 6, 7, the path sensor 12 is connected to the corresponding inputs of the first analog-to-digital converter (ADC) 13, the outputs of which are connected to the first system bus 14. The outputs of the ultrasonic transceiver transducers (SCP) with amplifiers 15 are connected to the inputs of the second ADC 16, the outputs of which are connected to the inputs of the first controller 17; devices 15, 16 and 17 form a three-row block of displacement meters for the projectile SCP relative to the pipe, and they are located in the bow, middle and tail parts of the shell, where x _l ^s is the lateral movement of the projectile, s is the row number, l is the sensor number in the row ; 18 is a marker signal sensor comprising an amplifier, the outputs of which are connected through the third ADC 19 to the inputs of the marker controller 20. The outputs of the controller 20 are connected to the corresponding inputs of the first system bus 14. The onboard processor 21, the timer 22, and the long-term memory are also connected to the first system bus 14 device (ROM) 23. As the device 23, flash memory or other storage devices may be used.

 The output of the block 25 input marker points through the matching device 26 is connected to the second system bus 24. The first two groups of outputs of the DZU 23 through the second system bus 24 are connected to the block 27 switching ranges of the angular velocity meters and the outputs of the longitudinal accelerometers, the first group of outputs of which are connected through the adder 28 with a block 29 for calculating correction signals for pitch and roll angles and a block 30 for calculating estimates of orientation parameters. The two outputs of block 29 are connected to the corresponding inputs of block 30, the third input of which is connected through a second system bus 24 and a matching device 26 with one of the outputs of the marker data input unit 25. The third group of outputs of the portable long-term storage device 23 through the second system bus 24 is connected to the corresponding inputs of the blocks for calculating the correction signals for the pitch and roll angles - 29, the evaluator of orientation parameter estimates - 30, the Cartesian coordinate calculator -31, the identification of the displacement of zeros of inertial sensors - 32. The remaining outputs of block 25 through the matching device and the system bus are connected to the second group of inputs of block 32 for identifying the displacement of zeros of the GIUS and accelerometers. The outputs of the calculator 30 are connected to the fourth group of inputs of the inertial sensor zeros identification module 32 and the second group of inputs of the Cartesian coordinates calculator 31, the outputs of which are connected to the fifth group of inputs of the zero-offset sensor 32 of the GIUS and accelerometers. The group of outputs of block 32 is connected to the second group of inputs of adder 28, and two single outputs are connected to the corresponding inputs of blocks 29 and 30. The output of the portable DZU 23 via the temperature measurement channel through the second system bus 24 is connected to the corresponding input of block 32.

 The output of the ultrasonic transceiver through the second system bus 24, the low-pass filter 33 and the detector 34 is connected to the input of the comparison device 35.

 New in relation to the closest analogue are: an additional accelerometer 4, precision signal amplifiers GIUS 8, 9, 10, a temperature sensor 11 and a signal sensor markers 18 with ADC 19 and a marker controller 20. In addition, the recorder is made in the form of a portable DZU 23, and the unit of calculations and controls - in the form of an onboard processor 21 and a ground subsystem.

The system for determining the coordinates of the underground pipeline route works as follows. After placing the in-tube inspection projectile in the launch chamber, it is kept stationary for two to three minutes to ensure the initial exhibition of the system during data processing, and then it is passed through the inspected area, recording the current system time and apparent values under the control of the on-board processor 21 in the DZU 23 accelerations, angular velocities, distance traveled, temperature inside the inertial sensor unit, as well as SCP signals and markers. After removing the projectile from the receiving chamber, the DZU 23 is disconnected from the on-board equipment and connected via the system bus 24 to the ground subsystem, in which the initial exhibition of the system for determining the coordinates of the underground pipeline route is made. For this, information on the azimuth angles ψ $\genfrac{}{}{0ex}{}{\text{*}}{\text{m}}$ and coordinates ζ $\genfrac{}{}{0ex}{}{\text{m}}{\text{1}}$ ζ $\genfrac{}{}{0ex}{}{\text{m}}{\text{2}}$ ζ $\genfrac{}{}{0ex}{}{\text{m}}{\text{3}}$ launch cameras (m = 0), and then markers (m = 1, .., is the marker serial number), which are converted by the ADC 26 and fed to the system bus 24.

из каких каналов - грубого или точного отсчета - использовать в блоках 29 и 30 значения угловых скоростей. Если сигналы малы, то используются каналы

точного отсчета - с усилителей 8, 9, 10 и с акселерометров 5, 6, 7. Если велики - то с ГИУС 1, 2, 3 и акселерометра 4 для измерения ускорений от ударов от выступов в стенке трубы.When the system is operating, block 27 determines

from which channels - rough or accurate reference - to use the angular velocity values in blocks 29 and 30. If the signals are small, then channels are used.

accurate readings - from amplifiers 8, 9, 10 and from accelerometers 5, 6, 7. If they are large, then from GIUS 1, 2, 3 and accelerometer 4 to measure accelerations from impacts from protrusions in the pipe wall.

где t₀, T_B - время начала и окончания выставки,

- сигналы ГИУС.In block 32 at the stage of the initial exhibition (t∈ [t _o , t _o + T _in ]) in the launch chamber, estimates of the zero signals of the GIUS ω $\genfrac{}{}{0ex}{}{\text{o}}{\text{xi}}$

where t ₀ , T _B - time of the beginning and end of the exhibition,

- GIUS signals.

которые передаются в блок 29, а также в блок 30.Then, in block 28, the offset of the zeros in the GIUS signals is compensated

which are transmitted to block 29, as well as to block 30.

компонент ускорений, обусловленных вращением снаряда относительно его центра подвеса:

где r_xi ⁽¹⁾, r_xi ⁽²⁾, r_xi ⁽³⁾ - координаты центра масс акселерометров 5, 6, 7 соответственно относительно центра подвеса снаряда, определяемые по измерениям на снаряде. Затем вычисляются

- оценки проекций ускорений сил тяжести по следующим алгоритмам:

где x₁ ⁺ - пройденный снарядом путь, счисляемый в БК 21 по сигналам датчика пути; t_m - время прохождения снарядом маркера с номером m;

- путевая скорость снаряда, Т - постоянная времени, выбираемая из условия эффективной фильтрации шумов датчиков при минимальном фазовом сдвиге, W_x1 ⁰ - оценка нулевого сигнала продольного акселерометра (на этапе начальной выставки принимается равной нулю);

- зафиксированные в момент t= t_m-1 прохождения снаряда мимо маркера значения оценок проекций ускорений сил тяжести и скорости движения снаряда:

Таким образом, сигналы коррекции по углам тангажа и крена вычисляются в соответствии с выражениями

и передаются в блок 30, где текущие значения оценок параметров ориентации вычисляются на основе корректируемых кинематических уравнений Эйлера:

Здесь K_Ψ, K_θ, K_γ и K $\genfrac{}{}{0ex}{}{\text{I}}{\text{θ}}$ , K $\genfrac{}{}{0ex}{}{\text{I}}{\text{γ}}$ - коэффициенты позиционной и интегральной коррекции, выбираемые, например, на основе теории модального управления с учетом интенсивности шумов ГИУС и сигналов коррекции. При этом коэффициент K_Ψ обнуляется после начала движения снаряда.In block 29, estimates are first generated

component of accelerations due to the rotation of the projectile relative to its center of suspension:

where r _xi ⁽¹⁾ , r _xi ⁽²⁾ , r _xi ⁽³⁾ are the coordinates of the center of mass of the accelerometers 5, 6, 7, respectively, relative to the center of the suspension of the projectile, determined by measurements on the projectile. Then computed

- estimates of projections of accelerations of gravity by the following algorithms:

where x ₁ ⁺ is the path traveled by the projectile, calculated in BC 21 according to the path sensor signals; t _m - the time the projectile passes marker with number m;

- ground velocity of the projectile, T - time constant, selected from the conditions of effective filtering of sensor noise at the minimum phase shift, W _x1 ⁰ - evaluation of the zero signal of the longitudinal accelerometer (at the initial exhibition stage it is assumed to be zero);

- values of estimates of projections of accelerations of gravity and velocity of the projectile recorded at the time t = t _{m-1 of} the projectile passing by the marker:

Thus, the correction signals for pitch and roll angles are calculated in accordance with the expressions

and transferred to block 30, where the current values of the estimates of the orientation parameters are calculated based on the corrected Euler kinematic equations:

Here K _Ψ , K _θ , K _γ and K $\genfrac{}{}{0ex}{}{\text{I}}{\text{θ}}$ , K $\genfrac{}{}{0ex}{}{\text{I}}{\text{γ}}$ - coefficients of positional and integral correction, selected, for example, on the basis of the theory of modal control, taking into account the intensity of noise GIUS and correction signals. In this case, the coefficient K _Ψ is reset after the start of the projectile movement.

Сигналы, соответствующие текущим оценкам параметров ориентации

поступают в вычислитель 31, где формируется матрица направляющих косинусов

, элементы которой используются в блоке 32 для пересчета приращения за один такт счета пройденного пути в горизонтную систему координат Oζ₁ζ₂ζ_3/

где k - номер такта вычислений, начиная с момента прохождения снаряда мимо очередного маркера.At the moment t = t _{m the} passage of the projectile past the marker, the values of the estimates of the orientation parameters and drift velocities are stored:

Signals corresponding to current orientation parameter estimates

enter the calculator 31, where a matrix of guide cosines is formed

, the elements of which are used in block 32 to recalculate the increment per cycle of counting the distance traveled to the horizontal coordinate system Oζ ₁ ζ ₂ ζ _{3 /}

where k is the number of the clock cycle of the calculations, starting from the moment the projectile passes by the next marker.

В момент t=t_m, прохождения снаряда мимо следующего маркера производится запоминание значений оценок декартовых координат снаряда:

Далее оценки текущих значений декартовых координат, параметров ориентации снаряда и пройденного им пути поступают в блок 32 идентификации смещения нулей ГИУС и акселерометра. В момент t=t_m прохождения снаряда мимо маркера эти значения фиксируются:

а ДЗУ 23 считываются значения декартовых координат ζ $\genfrac{}{}{0ex}{}{\text{m}}{\text{i}}$ и азимута трубопровода ψ $\genfrac{}{}{0ex}{}{\text{*}}{\text{m}}$ для данной маркерной точки.Then, the estimates of the Cartesian coordinates of the projectile are calculated here:

At the moment t = t _m , the passage of the projectile past the next marker, the values of the estimates of the Cartesian coordinates of the projectile are stored:

Further, estimates of the current values of the Cartesian coordinates, orientation parameters of the projectile and the path traveled by it are received in block 32 for identifying the offset of the zeros of the GIUS and the accelerometer. At the moment t = t _{m the} passage of the projectile past the marker, these values are fixed:

and DZU 23 reads the values of the Cartesian coordinates ζ $\genfrac{}{}{0ex}{}{\text{m}}{\text{i}}$ and the azimuth of the pipeline ψ $\genfrac{}{}{0ex}{}{\text{*}}{\text{m}}$ for a given marker point.

координат данной маркерной точки

и в случае превышения ошибки позиционирования снаряда в месте установки данного маркера

запускается итерационный процесс пересчета декартовых координат

на всем участке между двумя последними маркерами по следующему алгоритму:
а) производится вычисление приращений декартовых координат по отношению к моменту прохождения предыдущего маркера

б) аналогичные приращения декартовых координат формируются по данным маркеров

в) вычисляются интервал времени между моментами прохождения двух последних маркеров
Δt = t_m-t_m-1 (14)
и пройденный за это время снарядом путь
Δx $\genfrac{}{}{0ex}{}{\text{+}}{\text{1}}$ = x $\genfrac{}{}{0ex}{}{\text{+}}{\text{1,m}}$ -x $\genfrac{}{}{0ex}{}{\text{+}}{\text{1,m-1}}$ ; (15)
г) вычисляются азимутальные углы между двумя последними маркерами на основе следующих выражений

д) вычисляется нескомпенсированная систематическая составляющая азимутального дрейфа ГИУС и обусловленная нулевым сигналом и неточностью выставки продольного акселерометра систематическая ошибка определения угла тангажа

при наличии достаточно точной информации об азимутах трубопровода в местах установки маркеров нескомпенсированный азимутальный дрейф может быть вычислен следующим образом

е) вносятся поправки в оценки азимутального дрейфа ГИУС и смещения нуля продольного акселерометра
I_ψ[n] = I_ψ[n-1]-ω $\genfrac{}{}{0ex}{}{\text{o}}{\text{ψ}}$ , W $\genfrac{}{}{0ex}{}{\text{o}}{\text{x1}}$ [n] = W $\genfrac{}{}{0ex}{}{\text{o}}{\text{x1}}$ [n-1]+Δθ, (19)
где n - номер итерации.Based on these data, the calculation of the residuals ζ $\genfrac{}{}{0ex}{}{\text{m}}{\text{i}}$ and calculated

coordinates of this marker point

and in case of exceeding the error of the positioning of the projectile in the place of installation of this marker

the iterative process of recounting Cartesian coordinates is launched

over the entire area between the last two markers according to the following algorithm:
a) the calculation of the increments of the Cartesian coordinates with respect to the moment of passage of the previous marker

b) similar increments of Cartesian coordinates are formed according to markers

c) the time interval between the moments of the passage of the last two markers is calculated
Δt = t _m -t _m-1 (14)
and the path traveled during this time by the projectile
Δx $\genfrac{}{}{0ex}{}{\text{+}}{\text{1}}$ = x $\genfrac{}{}{0ex}{}{\text{+}}{\text{1, m}}$ -x $\genfrac{}{}{0ex}{}{\text{+}}{\text{1, m-1}}$ ; (fifteen)
d) the azimuthal angles between the last two markers are calculated based on the following expressions

e) the uncompensated systematic component of the GIUS azimuthal drift is calculated and due to the zero signal and inaccuracy of the longitudinal accelerometer display, the systematic error in determining the pitch angle

if there is sufficiently accurate information about the azimuths of the pipeline in the places where the markers are installed, the uncompensated azimuthal drift can be calculated as follows

(e) Amendments are made to the estimates of the GIUS azimuthal drift and zero offset of the longitudinal accelerometer
I _ψ [n] = I _ψ [n-1] -ω $\genfrac{}{}{0ex}{}{\text{o}}{\text{ψ}}$ , W $\genfrac{}{}{0ex}{}{\text{o}}{\text{x1}}$ [n] = W $\genfrac{}{}{0ex}{}{\text{o}}{\text{x1}}$ [n-1] + Δθ, (19)
where n is the iteration number.

g) the system time is transferred back t = t _m-1 , estimates of the displacements of the zeros of the GISS and accelerometers W _x1 ⁰ = W _x1 ⁰ [n], I _ψ = I _ψ [n] are transferred to blocks 29 and 30, where as initial values defined in these blocks of variable estimates, their values are fixed, fixed for time t = t _m-1 .

параметров ориентации

выводятся в качестве выходной информации системы. Определяется уровень вибраций, для чего сигналы с усилителей УППП 14, прошедшие через АЦП 15, контроллер 16 и записанные в ДЗУ 23, пропускаются через фильтры нижних частот 33, где усиливаются постоянные составляющие их сигналов о постоянных составляющих расстояний от УППП до стенки трубы и выделяется переменная, сигналы проходят детекторы 34 и затем сравниваются в 35 с заданным уровнем и выводятся для анализа степени вибрации снаряда. По уровню вибрации и изменению зазоров судят о степени износа манжет и смещении центра тяжести снаряда в трубе.Refined estimates of Cartesian coordinates

orientation parameters

output as system output. The vibration level is determined, for which the signals from the amplifiers of the soft starter 14, passed through the ADC 15, the controller 16 and recorded in the DZU 23, are passed through the low-pass filters 33, where the constant components of their signals about the constant components of the distances from the soft starter to the pipe wall are amplified and a variable , the signals pass through the detectors 34 and then are compared at 35 with a given level and output to analyze the degree of vibration of the projectile. The level of vibration and the change in the gaps judge the degree of wear of the cuffs and the displacement of the center of gravity of the projectile in the pipe.

In block 32, the identification of the displacement of the zeros of the SEI and accelerometers by the signals of the temperature sensor 11 are generated and temperature corrections are introduced into the signal estimates
The system for determining the coordinates of the route of the underground pipeline was implemented at the Research and Development Center "Orgtazdefectoscopy" (Saratov) and at the "Instrument Making" department of the Saratov State Technical University.

The system includes:
a) in-line inspection shell "DSU-1200" with on-board equipment of the following composition:
- inertial module based on:
* 3 GIUS type VG-910 (reproducibility of a zero signal at a variable temperature - 15. ..30 ^o / hour, 1 standard deviation; stability of a zero signal at a constant temperature - 5 ... 15 ^o / hour, 1 standard deviation);
* accelerometers of the type DLUMM-3;
* MMT-4 thermistor;
- track sensor in the form of a block of odometers;
- processor board of the company "Octagon systems" in the standard Micro PC model 5066-586;
- AMD 5 • 586/133 MHz processor;
- RAM 1 MB;
- long-term storage device based on:
* drive - Flash drive SDP3 series in the standard PC Card (PCMCIA ATA) company SanDisk, with a capacity of 220 MB (this amount is enough for a run of 22 hours)
* drive controller - dual-port PCMCIA card in the standard Micro PC company "Octagon systems" model 5842;
- analog-to-digital converter based on the board of the company "LAN Automatic" in the micro PC standard model AI8S-5-STB;
b) ground subsystem - a Pentium-type desktop computer with a set of programs for processing and analyzing sensor signal records of primary information.

 Field tests of the system were carried out on the 110 km long section of the Ekaterinovka-Balashov gas trunkline at the end of May 2000. An in-tube inspection projectile was missed twice in this section: first, with an average speed of about 3 m / s, and the second time with an average speed of more than 4 m / s.

 Due to the use of relatively rough GIUS and accelerometer, their drift can lead to the accumulation of large errors in solving the navigation problem - determining the path of the pipeline. To implement the iterative process of estimating the displacements of the GIUS and accelerometers uncompensated during the initial exhibition and taking into account these estimates when determining the current Cartesian coordinates of the pipeline, GPS receivers were used as part of a temporary marker station. With their help, the geographical coordinates of 9 markers of 20 km of the Ekaterinovsky section of the route and 8 markers of the Balashovsky section of the route were determined.

 In figure 4. presents a graph of the trajectory of the projectile in the horizon. Here, circles mark marker points determined by GPS signals.

In the course of the route tests established:
- the developed prototype of the underground pipeline route positioning system based on the strap-on system for orientating and navigating the in-pipe projectile allows constructing the trajectory of the axial line of the pipeline in the Cartesian local coordinate system;
- according to the results of tests on the Ekaterinovka-Balashov section of the 110-km-long route, the deviation of the coordinates of the marker points determined using the positioning system of the underground pipeline route from the coordinates determined using temporary marker stations does not exceed 250-300 m (the errors of marker stations are 100 ... 200 m). Positioning a track without using correction for marker points with given accuracy of primary information sensors is practically impossible.

Claims (2)

 1. The system for determining the coordinates of the route of the underground pipeline, containing an in-tube inspection projectile, including a sealed container, elastic cuffs, rigidly fixed in the bow and tail parts of the container, serially connected track sensor mounted on the outer surface of the container, a calculation and control unit and a recorder, three-component a gyroscopic angular velocity meter and a three-component accelerometer located inside the container, three rows of ultra-circular circles sound transceiver transducers arranged in pairs and diametrically opposite on the outer surface with n in each row in the bow, tail and middle parts of the container, connected to the information inputs of the computing and control unit, characterized in that an accelerometer of a wide measuring range along the longitudinal axis is additionally introduced into it container, three amplifiers connected by their inputs to the outputs of a three-component angular velocity meter, marker signal sensors with analog-to-digital convert Lemma, a controller and a temperature sensor, which are arranged inside the container and connected via a first system bus with the registrar.  2. The system for determining the coordinates of the route of the underground pipeline according to claim 1, characterized in that the recorder is made in the form of a portable long-term storage device, and the calculation and control unit is in the form of an on-board processor and a ground subsystem as part of data points input units, marker switching ranges gyroscopic measuring angular velocity and switching longitudinal accelerometers, calculating correction signals for pitch and roll angles, calculating estimates of orientation parameters, identifying zeros of gyroscopic angular velocity meters and accelerometers, as well as matching devices, an adder, a Cartesian coordinates calculator, a low-pass filter, a vibration level detector, and a comparison device, the outputs of a portable long-term storage device being connected via angular velocity and linear acceleration measurement channels through a second system bus with a range switching unit for angular velocity meters and accelerometers, the first group of outputs of which is connected to the first group of inputs identification of the displacement of zeros of inertial sensors and through the adder with the first groups of inputs of the unit for calculating estimates of orientation parameters and the unit for calculating correction signals for pitch and roll angles, the second group of inputs of which is connected to the second group of outputs of the unit for switching ranges of gyroscopic angular velocity meters and accelerometers, and two the outputs are connected to the corresponding inputs of the unit for calculating estimates of orientation parameters, the third input of which is connected through the second system bus and device matching with one of the outputs of the marker data input unit, the other outputs of which through the matching device and the second system bus are connected to the second group of inputs of the inertial sensor zeros identification block, the third group of portable long-term storage device outputs are connected to the corresponding inputs of the calculation blocks via the second system bus correction signals for pitch and roll angles, identification of the offset of the zeros of inertial sensors, as well as the Cartesian coordinates calculator, calculating estimates of orientation parameters, the outputs of which are connected to the fourth group of inputs of the inertial sensor zero offset identification unit and the second group of inputs of the Cartesian coordinates calculator, the outputs of which are connected to the fifth group of inputs of the inertial sensor zero offset module, the output group of which is connected to the second group of adder inputs, and two single outputs are connected to the corresponding inputs of the blocks for computing the estimates of the orientation parameters and for calculating the correction signals at the angles load and roll, the output of the portable long-term storage device via the temperature measurement channel through the second system bus is connected to the corresponding input of the inertial sensor zero offset identification unit, in addition, the ultrasonic transceiver transducers are connected through the second system bus, a low-pass filter, and a vibration level detector to the device inputs comparisons.

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