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Scheme and Key Technology Research of Internal Defects Positioning of Oil andGas Pipelines

机译：油气管道内部缺陷定位方案及关键技术研究

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This paper presents the current internal defects positioning technology of pipeline,rnand deeply analyzes the characteristics of the main positioning methods, errorrncausing mechanism and accumulative characteristics, and proposes a new combinedrnpositioning procedure, which applies INS (inertial navigation system) assisted byrnground markers /weld /odometer to achieve the exact position of internal defects ofrnoil and gas pipeline. INS is the core of positioning as a non-contact measurement. Itsrnpositioning manner is not affected by the internal environment of the pipeline and thernerror production and accumulation characteristics can be estimated; applying groundrnmarkers and weld signal, INS errors could be limited at a small range. This paperrnalso develops a mathematical model of INS, establishes the INS/odometer navigationrnalgorithms in accordance with positioning characteristics of the pipeline internalrndefects, and makes quantitative analysis on the algorithm errors of INS and therncombination, which makes a useful exploration so as to reduce positioning errors andrndevelops high accuracy of the positioning scheme.
机译：本文介绍了当前管道内部缺陷定位技术，并深入分析了主要定位方法的特点，引起误差的机理和累积特性，并提出了一种新的组合定位程序，该方法应用了惯性导航系统（INS）在地面标记/焊接/辅助下的惯性导航系统。里程表可准确确定诺尼尔和天然气管道内部缺陷的位置。 INS是定位为非接触式测量的核心。其布置方式不受管道内部环境的影响，可以估算出错误的产生和聚集特征；通过使用接地标记和焊接信号，可以将INS误差限制在很小的范围内。本文还建立了惯性导航系统的数学模型，根据管道内部缺陷的定位特性建立了惯性导航系统/里程表的导航算法，并对惯性导航系统和组合的算法误差进行了定量分析，为减少定位误差和开发提供了有益的探索。定位方案精度高。

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