CN106197409B - A kind of three-dimensional geographical coordinate measuring method of submarine pipeline - Google Patents
A kind of three-dimensional geographical coordinate measuring method of submarine pipeline Download PDFInfo
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Abstract
The invention discloses a kind of three-dimensional geographical coordinate measuring methods of submarine pipeline, three-component Magnetic Sensor and acceleration transducer the following steps are included: is fixed on any position in spherical internal detector by the measurement method, spherical internal detector is thrown into pipe inspection, measure magnetic field and acceleration in pipeline, inspection finishes, the magnetic field signal that spherical internal detector records is downloaded into host computer, carries out data processing；Calculate spherical internal detector mileage；Construct transition matrix；Coordinate transform is done to magnetic field；Solve the 3D trend of pipeline corresponding to j-th of data subset；Pipeline 3D geographical coordinate is calculated, is calibrated using pipeline 3D geographical coordinate of the pipeline endpoint 3D geographical coordinate to primary Calculation.The present invention realizes under the premise of no any assisted location method (such as GPS, ground marker), carries out the three-dimensional geographical measurement of coordinates of full pipeline, short cycle, low cost, convenient and fast submarine pipeline using spherical internal detector.
Description
Technical Field
The invention relates to the technical field of pipeline detection, in particular to a submarine pipeline three-dimensional geographic coordinate measuring method based on a spherical internal detector.
Background
With the continuous increase of global oil and gas resource consumption and the gradual depletion of land oil and gas resources, the ocean oil and gas development has been more and more emphasized all over the world, and the number of seabed oil and gas pipelines in China and even all over the world can be increased at an incredible speed in the future. While the submarine oil and gas pipelines play a very important role in national economy, the pipelines often have alarming pipeline leakage accidents, which cause huge economic loss and serious environmental pollution, even cause ecological disasters, and the number of the submarine pipelines is increased more and more fiercely. The method is characterized in that all-pipeline detection is carried out on various defects and in-situ states of the submarine pipeline at regular intervals, and maintenance and preventive measures are taken as soon as possible, so that the leakage accidents of the submarine pipeline can be avoided, and the service life of the submarine pipeline can be prolonged. Thus various detection techniques include: pipeline anticorrosive coating detection, pipeline corrosion detection, pipeline leakage detection, pipeline position location detection and monitoring are carried out at the same time.
The pipeline position detection is a precondition for realizing other detection technologies of the pipeline. Firstly, the internal detection method is a defect detection method for the submarine pipeline which is applied more at present. The detection in the submarine pipeline defect is meaningful only on the premise that the submarine pipeline geographical coordinates are known. Otherwise, even if a subsea pipeline defect is detected, it cannot be repaired. Secondly, the submarine pipeline has high-temperature thermal expansion and internal and external pressure difference in the process of transporting oil and gas, so that the submarine pipeline has a tendency of extending. On a large scale, the subsea pipeline can become very flexible. When subjected to the scouring action of ocean currents or tides on the seabed, the submarine pipelines can drift and deviate from the original geographic positions, so that the geographic coordinate information of the submarine pipelines is lost, and the positioning, maintenance and repair of the submarine pipelines are difficult. Therefore, the submarine pipeline geographic coordinate measurement has important significance.
Currently, for submarine geographic coordinate measurement, a multi-beam depth finder, a side-scan sonar, a shallow stratum profiler, an Underwater camera, an ocean magnetometer and the like are usually carried by an Underwater Robot (ROV) and an Autonomous Underwater Vehicle (AUV) at home and abroad to complete the investigation of the pipeline burying condition under the Underwater and submarine mud surface and the submarine geological condition of a routing area. Wherein, the multi-beam depth sounder and the side-scan sonar determine the longitudinal and transverse positions of the submarine pipeline by detecting the water depth and the submarine landform; the shallow stratum profiler can obtain high-frequency and low-frequency shallow stratum profile data, and survey of the buried depth of a buried pipeline and the type and thickness of overlying sediments is realized. The multi-beam echosounder cannot display the state of completely burying the pipeline and requires the cooperation of a shallow formation profiler. The submarine pipeline detected by the underwater camera has strong intuition, but the visibility is very low. The marine magnetometer can be used to detect the presence of a pipeline, but cannot detect the spatial position state of a subsea pipeline. These methods all have their own disadvantages and need comprehensive utilization and joint analysis. This leads to the problems of complex detection tasks, high cost and long detection intervals. And for the deepwater marine pipe, the engineering geophysical prospecting method has very high detection difficulty.
Furthermore, there have been attempts to apply strapdown inertial navigation techniques to subsea pipeline geographic coordinate measurements, but without success. The main reason is that inertial navigation needs to be realized based on a spherical or cylindrical inner detector and a ground marker, a double-layer submarine pipeline buried under mud is not provided with a mark point along the way, the GPS information along the pipeline is difficult to obtain, and the inertial navigation positioning error can be rapidly increased along with the accumulation of time to cause positioning divergence, so that the long-time independent work cannot be realized.
In conclusion, a three-dimensional geographic coordinate measuring method for the submarine pipeline, which is full-pipeline, short in period, low in cost and convenient to implement, is urgently needed.
Disclosure of Invention
The invention provides a three-dimensional geographic coordinate measuring method for a submarine pipeline, which realizes the three-dimensional geographic coordinate measurement of the submarine pipeline by utilizing a spherical internal detector under the premise of no auxiliary positioning method (such as a GPS and a ground marker), wherein the three-dimensional geographic coordinate measurement of the submarine pipeline is full-pipeline, short-period, low-cost and convenient, and is described in detail as follows:
a three-dimensional geographic coordinate measuring method for a submarine pipeline, the measuring method comprising the steps of:
fixing a three-component magnetic sensor and an acceleration sensor at any position in a spherical internal detector, putting the spherical internal detector into a pipe for inspection, measuring a magnetic field and acceleration in the pipe, downloading a magnetic field signal recorded by the spherical internal detector to an upper computer after inspection, and performing data processing; calculating the mileage of the spherical inner detector;
constructing a conversion matrix;
performing coordinate transformation on the magnetic field;
solving the 3D direction of the pipeline corresponding to the jth data subset;
and calculating the 3D geographic coordinates of the pipeline, and calibrating the preliminarily calculated 3D geographic coordinates of the pipeline by using the 3D geographic coordinates of the end point of the pipeline.
The step of calculating the mileage of the spherical internal detector specifically comprises the following steps:
carrying out Fourier transform on the jth data subset to obtain an intermediate variable data subset, searching the maximum value of the intermediate variable data subset to obtain the index of the maximum value, and acquiring the rolling average frequency of the spherical internal detector corresponding to the data subset;
setting the outer diameter of the spherical inner detector, and acquiring the advancing average rate of the spherical inner detector corresponding to the data subset;
acquiring the mileage of the spherical internal detector during the jth data subset;
assuming the total length of the pipeline is S0And acquiring the mileage of the spherical inner detector during the jth data subset after correction.
The step of constructing the transformation matrix specifically comprises the following steps:
respectively carrying out median filtering on the data subsets to obtain filtered signal subsets; obtaining an intermediate variable data subset through the filtered signal subset; and calculating the amplitude of the intermediate variable data subset to construct a matrix set.
The step of performing coordinate transformation on the magnetic field specifically comprises the following steps:
b is to be2x(k)、B2y(k)、B2z(k) Partitioning into a series of data subsets; by means of R12jThe following operation is performed on a series of data subsets to obtain Gxj,Gyj,Gzj；
Calculation of Gxj,Gyj,GzjAnd obtaining an intermediate variable vector consisting of the three new components.
The step of calculating the 3D geographic coordinates of the pipeline and calibrating the preliminarily calculated 3D geographic coordinates of the pipeline by using the 3D geographic coordinates of the pipeline endpoint specifically comprises the following steps:
calculating a unit rotation axis; calculating a rotation angle; calculating a rotation matrix; calculating a scaling coefficient; and (6) calibrating.
The technical scheme provided by the invention has the beneficial effects that:
1. the method does not need a GPS and a ground marker, and is particularly suitable for submarine pipelines;
2. the inner detector adopted by the method is of a spherical structure with the outer diameter smaller than the inner diameter of the pipeline, so that blockage is not easy to occur, deformation of the pipeline can be overcome, and the pipeline can easily pass through devices such as a valve on the pipeline;
3. the magnetic sensor and the acceleration sensor adopted by the method are MEMS devices, and have the advantages of low cost, micro power consumption, small volume, flexible use and the like;
4. the method utilizes the existing pipe cleaner transceiving equipment, and can conveniently and quickly transmit and receive the adopted spherical inner detector; the method can be applied to submarine pipelines and track reconstruction of land pipelines and urban water supply pipelines, and has strong adaptability and wide application range;
5. under the condition of no GPS and no ground marker, the method can draw a finished oil pipeline track with the length of 30km by using a spherical inner detector through experimental verification, and the feasibility of the method is verified.
Drawings
FIG. 1 is a flow chart of a method for measuring three-dimensional geographic coordinates of a submarine pipeline;
FIG. 2 is a data subset S of the original acceleration signalxj、Syj、SzjA schematic diagram of (a);
FIG. 3 is a diagram of the acceleration signal data subset V after removal of the DC component and filteringxj、Vyj、VzjA schematic diagram of (a);
FIG. 4 shows R in four configurations12jQuadrature error ER12jAn exemplary diagram of (a);
FIG. 5 is a schematic illustration of magnetic fields before and after coordinate transformation; (a) is a schematic diagram before transformation; (b) is a schematic diagram after transformation.
FIG. 6 is a calculated pipeline trajectory: (a) calculating an uncalibrated pipeline track; (b) a calibrated pipeline trajectory.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in further detail below.
Example 1
The embodiment of the invention provides a three-dimensional geographic coordinate measuring method for a submarine pipeline, and the method comprises the following steps of:
101: fixing a three-component magnetic sensor and an acceleration sensor at any position in a spherical internal detector, putting the spherical internal detector into a pipe for inspection, measuring a magnetic field and acceleration in the pipe, downloading a magnetic field signal recorded by the spherical internal detector to an upper computer after inspection, and performing data processing; calculating the mileage of the spherical inner detector;
102: constructing a conversion matrix; performing coordinate transformation on the magnetic field;
103: solving the 3D direction of the pipeline corresponding to the jth data subset;
104: and calculating the 3D geographic coordinates of the pipeline, and calibrating the preliminarily calculated 3D geographic coordinates of the pipeline by using the 3D geographic coordinates of the end point of the pipeline.
The step 101 of calculating the mileage of the spherical internal detector specifically comprises the following steps:
carrying out Fourier transform on the jth data subset to obtain an intermediate variable data subset, searching the maximum value of the intermediate variable data subset to obtain the index of the maximum value, and acquiring the rolling average frequency of the spherical internal detector corresponding to the data subset;
setting the outer diameter of the spherical inner detector, and acquiring the advancing average rate of the spherical inner detector corresponding to the data subset;
acquiring the mileage of the spherical internal detector during the jth data subset;
assuming the total length of the pipeline is S0And acquiring the mileage of the spherical inner detector during the jth data subset after correction.
The step 102 of constructing the transformation matrix specifically includes:
respectively carrying out median filtering on the data subsets to obtain filtered signal subsets; obtaining an intermediate variable data subset through the filtered signal subset; and calculating the amplitude of the intermediate variable data subset to construct a matrix set.
The step of carrying out coordinate transformation on the magnetic field specifically comprises the following steps:
b is to be2x(k)、B2y(k)、B2z(k) Partitioning into a series of data subsets; by means of R12jThe following operation is performed on a series of data subsets to obtain Gxj,Gyj,Gzj；
Calculation of Gxj,Gyj,GzjAnd obtaining an intermediate variable vector consisting of the three new components.
The step of calculating the 3D geographic coordinates of the pipeline and calibrating the 3D geographic coordinates of the pipeline through the 3D geographic coordinates of the pipeline specifically comprises the following steps:
calculating a unit rotation axis; calculating a rotation angle; calculating a rotation matrix; calculating a scaling coefficient; and (6) calibrating.
In summary, the embodiment of the invention utilizes the spherical internal detector to measure the three-dimensional geographic coordinates of the submarine pipeline in a full pipeline, short period, low cost and convenience manner on the premise of not using any auxiliary positioning method (such as GPS and ground marker), thereby meeting various requirements in practical application.
Example 2
The scheme in embodiment 1 is described in detail below with reference to specific figures and calculation formulas, which are described in detail below:
201: a data collection section;
the method comprises the following steps that a three-component magnetic sensor and a three-component acceleration sensor are fixed at any position in a spherical inner detector, a magnetic field signal in a pipeline and an acceleration signal of the spherical inner detector are obtained, and the magnetic field signal and the acceleration signal are transmitted to an upper computer;
the detailed operation of the step is as follows: the three-component magnetic sensor and the acceleration sensor are fixed at any position in the spherical internal detector, the spherical internal detector is put into a pipe to be inspected, the magnetic field and the acceleration in the pipeline are measured, and after the inspection is finished, the magnetic field signals recorded by the spherical internal detector are downloaded to an upper computer to be subjected to data processing.
The embodiment of the present invention does not limit the types of the three-component magnetic sensor and the three-component acceleration sensor, and only requires that three axes of the magnetic sensor are respectively parallel to three axes of the acceleration sensor, for example: the three-component magnetic sensor and the three-component acceleration can be packaged in one chip or can be packaged in two chips respectively. Let B be the signal of three axes of the magnetic sensor2(k)＝{(B2x(k),B2y(k),B2z(k) 1,2,3, … }, and the acceleration component signals parallel to the three axes are denoted as a2(k)＝{(a2x(k),a2y(k),a2z(k) 1,2,3, … }, where k is the discrete sample point number.
202: calculating the mileage of the spherical inner detector;
(1) selecting a larger amplitude value a2(k) Component, selecting a in the test2x(k) And (4) components. A is to2x(k) Dividing the data into a series of data subsets, and setting the number of points of each data subset to be N0。
Wherein N is0Is selected to satisfy: the data subset contains approximately 8-20 periodic signals. In the experiment of this example, the sampling rate fsThe roll frequency of the spherical internal detector is about 2Hz, N, 50Hz0And taking 260. Setting the total number of sampling points of the data obtained in the current experiment as N, the number N of the data subsets1＝N/N0And rounding down.
(2) Let jth data subset be denoted as Sxj＝{a2xj(i)|i＝1,2,…,N0},1≤j≤N1，a2xj(i) Is an element of the jth x-component acceleration data subset. For j data subset SxjFourier transform is carried out to obtain an intermediate variable data subset Qxj＝{q2xj(i)|i＝1,2,…,N0},1≤j≤N1，q2xj(i) For intermediate variable data subsets QxjOf (2) is used. Searching intermediate variable data subset QxjGet the index i of the maximum valuejData subset SxjThe average frequency of the corresponding detector roll in the sphere is:
(3) assuming the outer diameter of the spherical inner detector is D, the data subset SxjThe corresponding average rate of detector advancement within the sphere is:
vj＝πDfj
(4) the range of the intra-sphere detector during the jth data subset can be expressed as:
sj＝vj·N0/fs
(5) let the total length of the pipeline be s0Then the mileage of the spherical inner detector during the jth data subset after the correction is:
203: constructing a conversion matrix;
the form of the transformation matrix constructed by using the j-th data subset of the acceleration signal is shown as follows:
the following steps (1) to (3) calculate r12j(i) The third row of (4) and the step of calculating r12j(i) The first line, and the second line calculated in steps (5) - (7).
(1) Referring to FIG. 2, a2x(k)、a2y(k)、a2z(k) Dividing the data into a series of data subsets, and setting the number of points of each data subset to be N0Taking N in this test0Let j-th data subset be denoted as S260xj＝{a2xj(i)|i＝1,2,…,N0},Syj＝{a2yj(i)|i＝1,2,…,N0},Szj＝{a2zj(i)|i＝1,2,…,N0},1≤j≤N1，a2yj(i) Elements of a jth y-component acceleration data subset; a is2zj(i) Is an element of the jth z-component acceleration data subset.
(2) Are respectively paired with Sxj、Syj、SzjPerforming median filtering, wherein the rank of the median filtering is 1; then, carrying out average filtering, wherein the order of the average filtering is 4; obtaining a filtered subset W of the signalxj、Wyj、Wzj。
The rank and the order are set according to the requirement in practical application, which is not limited in the embodiment of the present invention. When the rank is 1 and the order is 4, the test has a good effect.
(3) Referring to fig. 3, the output value of the acceleration sensor corresponding to 1 gravitational acceleration is set to g0Then W will bexj、Wyj、WzjAre each divided by g0Then subtracting the respective average values to obtain an intermediate variable data subset Vxj＝{vxj(i)|i＝1,2,…,N0},Vyj＝{vyj(i)|i＝1,2,…,N0},Vzj＝{vzj(i)|i＝1,2,…,N0},1≤j≤N1，vxj(i) For intermediate variable data subsets VxjAn element of (1); v. ofyj(i) For intermediate variable data subsets VyjAn element of (1); v. ofzj(i) For intermediate variable data subsets VzjOf (2) is used.
(4) Calculating three-quarters PA of rolling period of spherical inner detectorj＝0.75*fj/fsLet a PAjIs PA1jTo V pairxjObtaining an intermediate variable data subset U by performing the following linear interpolation operationxj：
Uxj＝Vxj(i+PAj)
＝{uxj(i)＝vxj(i+PA1j)+(PAj-PA1j)(vxj(i+1+PA1j)-vxj(i+PA1j))i＝1,2,…,N0}
Wherein v isxjIs a subset V of intermediate variable dataxjElement of (a), uxj(i) Is a subset of intermediate variable data UxjOf (2) is used.
To Vyj、VzjSimilar linear interpolation operation is carried out to respectively obtain Uyj、Uzj。
(5) Calculate Uxj、Uyj、UzjRespectively, are denoted as Axj、Ayj、AzjAnd calculating:
wherein x is22jIs the x-component of the axis of rotation of the spherical inner detector; y is22jThe y component of the axis of rotation of the spherical inner detector; z is a radical of22jIs the z-component of the axis of rotation of the spherical inner detector.
Taking four combinations:
[x22jy22jz22j]＝[β1|x22j|β2|y22j|β3|z22j|]
wherein (β)1β2β3)∈{(1 1 1),(-1 1 1),(1 -1 1),(-1 -1 1)}
Wherein, β1、β2、β3The sign of the x, y, z components of the axis of rotation of the spherical internal detector.
(6) Constructing the following transformation matrix set:
wherein v isyj(i) For intermediate variable data subsets VyjAn element of (1); v. ofzj(i) For intermediate variable data subsets VzjAn element of (1); u. ofyj(i) For intermediate variable data subsets UyjAn element of (1); u. ofzj(i) For intermediate variable data subsets UzjOf (2) is used.
Since the second row has four symbol values, R12jThere are four configurations.
(7) Calculating four cases R12jQuadrature error ER of12j：
ER12j＝{er12j(i)＝||r12j(i)T·r12j(i)-diag(1,1,1)||2|i＝1,2,…,N0}
Wherein diag (1,1,1) represents a 3 × 3 matrix with all 1 elements on the diagonal and all 0 elements on the remaining, er12j(i) Is a quadrature error ER12jAn element of (1); r is12j(i) For transforming the matrix R12jAn element of (1); r is12j(i)TIs r12j(i) Transposing; i | · | purple wind2Represents a frobenius norm, for example:
selecting a group of symbol combinations with smaller errors as shown in FIG. 4(β)1,β2,β3) When R is (-1,1,1)12jQuadrature error ER of12jFar less than the other three cases, excluding R12jIn the other three cases of (1), R12jAnd (4) uniquely determining.
204: performing coordinate transformation on the magnetic field;
(1) b is to be2x(k)、B2y(k)、B2z(k) Dividing into a series of data subsets, each data subset having a number of points N0Taking N in this test0Let E denote the subset of magnetic field data before the jth coordinate transformation as E260xj＝{e2xj(i)|i＝1,2,…,N0},Eyj＝{e2yj(i)|i＝1,2,…,N0},Ezj＝{e2zj(i)|i＝1,2,…,N0},1≤j≤N1，e2xj(i) For a subset E of magnetic field data prior to coordinate transformationxjAn element of (1); e.g. of the type2yj(i) For a subset E of magnetic field data prior to coordinate transformationyjAn element of (1); e.g. of the type2zj(i) For a subset E of magnetic field data prior to coordinate transformationzjOf (2) is used.
(2) See FIG. 5, using R12jTo Exj,Eyj,EzjObtaining the coordinate-transformed magnetic field data subset G by the following operationxj,Gyj,GzjIs provided with Gxj＝{gxj(i)|i＝1,2,…,N0},Gyj＝{gyj(i)|i＝1,2,…,N0},Gzj＝{gzj(i)|i＝1,2,…,N0},1≤j≤N1And satisfy
Wherein, gxj(i) Is GxjAn element of (1); gyj(i) Is GyjAn element of (1); gzj(i) Is GzjAn element of (1); e.g. of the typexj(i) Is ExjAn element of (1); e.g. of the typeyj(i) Is EyjAn element of (1); e.g. of the typezj(i) Is EzjOf (2) is used.
(3) Calculation of Gxj,Gyj,GzjIs obtained, and an intermediate variable vector B consisting of three new components is obtained1j：
205: solving the 3D direction of the pipeline corresponding to the jth data subset;
solving the following system of equations, wherein B1jHas been calculated by step 204(3) (. lambda.)a,λr,λr)＝(0.977,0.072,0.072)，B0Is the three components of the local geomagnetic field in the northeast of the coordinate system of the northeast, B in this test0(-1.57,37.82, -24.48) μ T, wherein μ T is B0The unit of (c). ThetajAndthe included angle between the pipeline and the horizontal plane and the included angle between the projection of the pipeline on the horizontal plane and the east are unknown and to be solved. Solving the nonlinear equation system can obtain the pipeline trend thetajAnd
where T represents the transpose of the matrix.
206: calculating 3D geographic coordinates of the pipeline;
wherein j is 1,2,3, …, p0Is the starting coordinate of the pipe or pipe,pcjthe geographic coordinates of a point on the pipeline passed by the spherical internal detector at the moment corresponding to the jth data subset end point; t isj' is a unit vector of the 3D trend of the pipe section corresponding to the jth data subset;sinθj'is Tj’Three components of (a); sj'The distance of the spherical inner detector corresponding to the jth data subset.
207: calibrating the 3D geographic coordinates of the pipeline:
(1) calculating unit rotation axis
Wherein p isaAnd pcActual and calculated geographical coordinates of the pipe end point, respectively.
(2) Calculating a rotation angle
Wherein p isaAnd pcActual and calculated geographical coordinates of the pipe end point, respectively.
(3) Computing rotation matrices
Wherein,
wherein n is1,n2,n3Three components of the unit rotation axis n.
(4) Calculating a scaling factor
(5) Calibration
pcj＝ηRacpcj
In summary, the embodiment of the invention utilizes the spherical internal detector to measure the three-dimensional geographic coordinates of the submarine pipeline in a full pipeline, short period, low cost and convenience manner on the premise of not using any auxiliary positioning method (such as GPS and ground marker), thereby meeting various requirements in practical application.
Example 3
The feasibility verification of the solutions of examples 1 and 2 is carried out below with reference to fig. 6, described in detail below:
1) the three-component magnetic sensor and the three-component acceleration sensor are installed in the spherical internal detector, the power supply of the spherical internal detector is started, the electronic system starts data acquisition and stores magnetic field signals and acceleration signals, and the spherical internal detector is sealed and fastened.
2) The spherical internal detector is launched into the oil-gas pipeline from the launching barrel at the starting end of the oil-gas pipeline, and the spherical internal detector rolls and advances under the pushing of fluid in the pipeline, and simultaneously records a magnetic field signal and an acceleration signal.
3) When the spherical inner detector reaches the tail end of the oil and gas pipeline, the spherical inner detector is taken out from the ball collecting cylinder, and the spherical inner detector is wiped clean by dry cloth.
4) And opening the spherical inner detector, connecting the spherical inner detector and an upper computer by a data line, and downloading data to the upper computer.
5) And performing data processing on the magnetic field data and the acceleration data by using the algorithm.
Fig. 6 shows the calculated pipeline trajectory: (a) calculating an uncalibrated pipeline track; (b) a calibrated pipeline trajectory. As can be seen from fig. 6(a), the calculated, uncalibrated pipeline trajectory is projected on a horizontal plane and compared to the pipeline chart provided by the pipeline company, and is nearly identical in shape, but there is a single direction of severe deviation, which increases with increasing mileage. As shown in fig. 6(b), after calibration is performed, the calculated geographical coordinates of each point on the pipeline are rotated and scaled, so that the end point of the calculated pipeline trajectory coincides with the end point of the actual pipeline, and the calculated trajectory of the entire pipeline almost completely coincides with the trajectory of the actual pipeline, and the deviation almost disappears.
In the embodiment of the present invention, except for the specific description of the model of each device, the model of other devices is not limited, as long as the device can perform the above functions.
Those skilled in the art will appreciate that the drawings are only schematic illustrations of preferred embodiments, and the above-described embodiments of the present invention are merely provided for description and do not represent the merits of the embodiments.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (5)
1. A three-dimensional geographic coordinate measuring method for a submarine pipeline is characterized by comprising the following steps:
fixing a three-component magnetic sensor and an acceleration sensor at any position in a spherical internal detector, enabling three shafts of the three-component magnetic sensor to be respectively parallel to three shafts of the acceleration sensor, putting the spherical internal detector into a pipe for inspection, measuring a magnetic field and acceleration in the pipe, downloading a magnetic field signal recorded by the spherical internal detector to an upper computer after inspection, and performing data processing; calculating the mileage of the spherical inner detector;
constructing a conversion matrix;
performing coordinate transformation on the magnetic field;
solving the 3D direction of the pipeline corresponding to the jth data subset;
and calculating a 3D geographic coordinate of the pipeline, and calibrating the preliminarily calculated 3D geographic coordinate of the pipeline by using the 3D geographic coordinate of the end point of the pipeline.
2. The method for measuring the three-dimensional geographic coordinates of the submarine pipeline according to claim 1, wherein the step of calculating the mileage of the spherical internal detector is specifically as follows:
carrying out Fourier transform on the jth data subset to obtain an intermediate variable data subset, searching the maximum value of the intermediate variable data subset to obtain the index of the maximum value, and acquiring the rolling average frequency of the spherical internal detector corresponding to the data subset;
setting the outer diameter of the spherical inner detector, and acquiring the advancing average rate of the spherical inner detector corresponding to the data subset;
acquiring the mileage of the spherical internal detector during the jth data subset;
assuming the total length of the pipeline is S0And acquiring the mileage of the spherical inner detector during the jth data subset after correction.
3. The method for measuring the three-dimensional geographic coordinates of the submarine pipeline according to claim 1, wherein the step of constructing the transformation matrix specifically comprises:
respectively carrying out median filtering on the data subsets to obtain filtered signal subsets; obtaining an intermediate variable data subset through the filtered signal subset; and calculating the amplitude of the intermediate variable data subset to construct a matrix set.
4. The method for measuring the three-dimensional geographic coordinates of the submarine pipeline according to claim 1, wherein the step of performing coordinate transformation on the magnetic field specifically comprises:
signal B of three axes of three-component magnetic sensor2x(k)、B2y(k)、B2z(k) Partitioning into a series of data subsets; using a transformation matrix R12jThe following operation is performed on a series of data subsets to obtain Gxj,Gyj,Gzj；
Wherein G isxj＝{gxj(i)|i＝1,2,…,N0},Gyj＝{gyj(i)|i＝1,2,…,N0},Gzj＝{gzj(i)|i＝1,2,…,N0},1≤j≤N1And satisfy
Wherein, gxj(i) Is GxjAn element of (1); gyj(i) Is GyjAn element of (1); gzj(i) Is GzjAn element of (1); e.g. of the typexj(i) Is ExjAn element of (1); e.g. of the typeyj(i) Is EyjAn element of (1); e.g. of the typezj(i) Is EzjAn element of (1);
calculation of Gxj,Gyj,GzjAnd obtaining an intermediate variable vector consisting of the three new components.
5. The method for measuring three-dimensional geographic coordinates of a submarine pipeline according to claim 1, wherein the step of calculating 3D geographic coordinates of the pipeline and calibrating the preliminarily calculated 3D geographic coordinates of the pipeline by using the 3D geographic coordinates of the pipeline end points comprises the following steps:
calculating a unit rotation axis; calculating a rotation angle; calculating a rotation matrix; calculating a scaling coefficient; and (6) calibrating.
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| CN109556700B (en) * | 2018-12-26 | 2020-10-23 | 天津大学 | Vibration detection method for submarine suspended span pipeline |
| CN110260044B (en) * | 2019-06-06 | 2020-12-04 | 天津大学 | Submarine pipeline positioning method |
| CN110567420B (en) * | 2019-08-19 | 2020-12-01 | 佛山科学技术学院 | Method for accurately measuring underwater buried depth of pipeline |
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