一种基于惯性测量单元和里程计的油气管道定位方法

An Oil and Gas Pipeline Positioning Method Based on Inertial Measurement Unit and Odometer

对于惯性导航系统而言,当初始对准给定的信息不准确时,会导致惯性测量单元信息解算不准确,进而影响定位算法精度。针对油气管道定位问题,设计了一种基于惯性测量单元和里程计的油气管道定位方法,介绍了惯性测量单元和里程计定位的基本原理,分析了初始对准不准确对定位结果的影响,提出了基于首尾点坐标的轨迹校正方法。该校正方法补偿了初始条件带来的常值角度误差,提高了定位方法的精度。多组管道的实测实验验证了该方法的有效性,实验结果表明:首尾点坐标轨迹校正方法作用明显,定位方法在近似直线型管道定位中表现突出,其水平直线误差和高程精度均小于0.20%航程,为油气管道的定位提供了一种可靠的方法。

For inertial navigation system,when the given information of initial alignment is inaccurate,it will lead to inaccurate information solution of inertial measurement unit,which will affect the accuracy of positioning algorithm.In view of the oil and gas pipeline positioning problem,a kind of oil and gas pipelines positioning method based on inertial measurement unit and odometer is designed in this paper.The basic principle of inertial measurement unit and odometer positioning is introduced.The influence of inaccurate initial alignment on positioning results is analyzed.A trajectory correction method based on head and tail point coordinates is proposed.This correction method compensates the constant angle error caused by the initial conditions and improves the accuracy of the positioning method.The effectiveness of the proposed method is verified by the experiment results of several pipelines in this paper.The experiment results show that the head and tail point coordinate trajectory correction method has obvious effect,and the positioning method presented in this paper is outstanding in the approximate linear pipeline positioning.Its horizontal straight-line error and elevation accuracy are less than 0.20%of the voyage,which provides a reliable method for the oil and gas pipeline positioning.