基于惯性导航的管道中心线测量方法  

Measurement method of pipeline central line based on inertial navigation

作　　者：李睿[1] 冯庆善[1] 张军政 张海亮[1] 韩小明[3] 刘成海[1] 

机构地区：[1]中国石油管道公司,河北廊坊065000 [2]中国石油西气东输管道公司,河南郑州450000 [3]中国石油管道科技研究中心,河北廊坊065000

出　　处：《油气储运》2013年第9期979-981,共3页Oil & Gas Storage and Transportation

摘　　要：由于大多数油气管道敷设于地下,难以全面系统地检测管道中心线的位置、管道位移甚至变形。为了准确获得埋地管道的中心线坐标,根据惯性导航系统的特性,将高精度惯性导航单元搭载至载体上对管道进行检测,在管道正常运行状态下,利用惯性测量单元结合地面高精度参考点GPS坐标及里程轮数据对管道位置进行定位及修正,精确描绘管道三维坐标与走向。试验结果表明:该测试方法能够准确解算管道中心线坐标,可以为预防管道事故和进行维护提供科学依据,对保证管道安全运行具有重要作用。(图6,参4)Owing to the most of oil and gas pipelines laid underground,it is difficult to detect pipeline centerline position,pipeline displacement and even deformation thoroughly and systematically.In order to acquire accurate coordinates of underground pipeline centerline,high precision inertial navigation units are placed into carriers for pipeline inspection according to the characteristics of the inertial navigation system.The pipeline positions are determined and modified under normal pipeline running status using inertial measurement units integrated with GPS coordinates of surface high accuracy reference points,and 3D pipeline coordinates and trends are described precisely.The test results show that the testing method can calculate pipeline centerline coordinates exactly and provide scientific basis to the prevention of pipeline accidents and pipeline maintenance,and this method is playing an important role in ensuring pipeline safety running.

关 键 词：管道内检测 惯性导航 定位 管道中心线 

分 类 号：TE832[石油与天然气工程—油气储运工程]