本文選題：捷聯慣性導航 + 管道內檢測器　； 參考：《沈陽工業(yè)大學》2013年碩士論文

【摘要】：管道作為物料運輸的重要設施，已經越來越廣泛的應用于石油天然氣的運輸。在運輸過程中，管道受到運送物資和自然環(huán)境的影響會產生腐蝕和形變。如果能夠對管道地理坐標進行數字化測量，就可以對管道的安全狀況進行有效的檢測，對管道的維修維護具有重要的意義。 為了實現對管道地理坐標的數字化測量，，本文對捷聯慣性導航技術進行深入研究，結合管道內檢測器的實際工作狀況，提出一種基于捷聯慣性導航技術的管道內檢測器組合導航方法。該方法將慣性導航系統(tǒng)搭載于PIG上，隨PIG進行內檢測作業(yè)實現對管道地理坐標的測量并可以對因地殼運動所造成的管道彎折進行測量。針對管道內檢測技術的應用背景，設計和推導了基于捷聯慣性導航原理的組合導航管道地理坐標測量方法。通過研究傳感器誤差模型，提出了利用磁標記處地理坐標信息對傳感器模型參數進行估計進而分段修正地理坐標測量誤差的方法。結合捷聯慣性導航算法，在MATLAB平臺上實現了地理坐標解算算法。為了驗證所研究方法對管道地理坐標的測量效果，根據管道內檢測的實際情況，搭建了實驗平臺，完成了硬件的選型和數據采集與存儲軟件的開發(fā)。直線實驗結果的相對誤差達到了0.3%。在利用磁標記進行分段修正后長程地理坐標測量實驗的結果絕對位置誤差小于3m，并且實驗驗證了該方法可以對600m距離內的0.6m管道彎折進行檢測。 應用實驗平臺進行的實驗結果表明：管道地理坐標測量系統(tǒng)可以實現對管道地理坐標的測量。通過利用地理磁標處的管道地理信息可以實現對航跡推算誤差的有消除，測量精度滿足對管道彎折的檢測要求。管道地理坐標的數字化測量將會對我國長輸油氣管道的安全施工和維護產生重大的經濟價值和社會意義。
[Abstract]:As an important facility of material transportation, pipeline is more and more widely used in oil and gas transportation. In the course of transportation, the pipeline will be corroded and deformed due to the influence of transportation materials and natural environment. If the geographic coordinates of the pipeline can be digitally measured, the safety condition of the pipeline can be effectively detected, and it is of great significance to the maintenance and maintenance of the pipeline. In order to realize the digital measurement of the geographical coordinates of pipelines, the strapdown inertial navigation technology is deeply studied in this paper. A method of integrated navigation based on strapdown inertial navigation technology is proposed. In this method, the inertial navigation system is mounted on the PIG, and the internal detection is carried out with PIG to measure the geographical coordinates of the pipeline and the bend of the pipeline caused by the crustal movement can be measured. Aiming at the application background of pipeline detection technology, a method of integrated navigation pipeline geographic coordinate measurement based on strapdown inertial navigation principle is designed and deduced. By studying the sensor error model, a method of estimating the sensor model parameters by using the geographic coordinate information of the magnetic marker is presented, and the method of correcting the geographic coordinate measurement error by stages is put forward. Combined with strapdown inertial navigation algorithm, the geographic coordinate algorithm is implemented on MATLAB platform. In order to verify the measuring effect of the research method to the geographical coordinate of pipeline, according to the actual situation of the pipeline detection, the experimental platform was built, and the selection of hardware and the development of data acquisition and storage software were completed. The relative error of the experimental results is 0.3%. The absolute position error is less than 3 m after segmented correction by using magnetic markers, and it is verified by experiments that the method can be used to detect the bending of 0.6 m pipeline in 600m distance. The experimental results show that the geographical coordinate measurement system can be used to measure the geographical coordinates of pipelines. By using the geographic information of the pipeline at the geomagnetic mark, the error of track reckoning can be eliminated, and the measurement accuracy can meet the requirements of the pipeline bending detection. The digital surveying of geographical coordinates of pipelines will bring great economic value and social significance to the safe construction and maintenance of long oil and gas pipelines in China.
【學位授予單位】：沈陽工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2013
【分類號】：P227.9;U178

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