基于球形内检测器的管道倾角测量新方法
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摘要
在利用球形内检测器测量管道倾角时,因管道磁屏蔽模型难以标定导致误差较大。针对此问题,通过分析球形内检测器中的传感器在管道中运动轨迹为摆线和管道单侧磁化后管道内径向磁场分布不均匀的特点,结合坐标变换方法,提出了一种不使用管道磁屏蔽模型的管道倾角测量新方法。该方法先通过加速度信号求解旋转矩阵,然后根据磁场信号的极大值点位置求解管道倾角。同时建立了相应的数学模型并通过算法加以实现,然后通过仿真和实验对该方法进行验证。结果表明,实验结果与仿真结果吻合度较高,该方法的测量精度较高,最大相对误差为3.55%。
Spherical inner detector has a large error in measuring pipeline inclination for its difficulty to calibrate pipeline magnetic shield model. Against to this drawback, a new method of measuring pipeline inclination was proposed without using pipeline magnet-ic shield model. It was based on cycloidal motion characteristics of the sensor in spherical inner detector while rolling inside pipelines, uneven radial distributions of magnetic fields inside after unilaterally magnetized, and the coordinate transformation method. The method uses the acceleration signal to solve the rotation matrix, and then uses the location of the maximum point of the magnetic signal to solve the pipeline inclination. The mathematical model of the method was established while its algorithm was also designed and implemented. This method was verified by simulation and experiments. The experimental results show that they are highly consistent with the simulate results. Good measurement accuracy can be obtained and maximum relative error is 3. 55 %.
Spherical inner detector has a large error in measuring pipeline inclination for its difficulty to calibrate pipeline magnetic shield model. Against to this drawback, a new method of measuring pipeline inclination was proposed without using pipeline magnet-ic shield model. It was based on cycloidal motion characteristics of the sensor in spherical inner detector while rolling inside pipelines, uneven radial distributions of magnetic fields inside after unilaterally magnetized, and the coordinate transformation method. The method uses the acceleration signal to solve the rotation matrix, and then uses the location of the maximum point of the magnetic signal to solve the pipeline inclination. The mathematical model of the method was established while its algorithm was also designed and implemented. This method was verified by simulation and experiments. The experimental results show that they are highly consistent with the simulate results. Good measurement accuracy can be obtained and maximum relative error is 3. 55 %.
引文
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[3]欧阳侃夫,杨建钦.GIS在海管完整性管理中的应用[J].微型机与应用,2013,32(23):1-2,6.
[4]刘渊.管道内球形检测器数据采集平台的研究[D].天津:天津大学,2012.
[5]李孟杰.海底管道轨迹在线精确测量技术研究[J].中国海洋平台,2004,19(6):46-49.
[6]Jin Shiyong,Ping Yang.Research on the describing of trajectory for subsea pipeline based on inertial navigation system[C].Power Engineering and Automation Conference.IEEE,2012:463-468.
[7]Li Hui,Jin Peng.Initial alignment of SINS in the measurement system of pipeline position based on SUKF[J].Applied Mechanics&Materials,2014,568-570(14):464-467.
[8]杨理践,李晖,靳鹏,等.管道地理坐标测量系统SINS安装误差标定[J].仪器仪表学报,2015,36(1):40-48.
[9]杨理践,沈博,高松巍.基于组合导航技术的管道地理坐标定位算法[J].沈阳工业大学学报,2014,36(1):66-71.
[10]陈世利,黄新敬,郭世旭,等.海底管道微泄漏球形内检测器可行性研究[J].石油工程建设,2014,40(2):19-26.
[11]陈冠任,李健,黄新敬,等.基于球形内检测器的管道内磁场测量简[J].传感技术学报,2016,29(10):1486-1492.
[12]赵伟,曾周末,陈世利,等.管道内地磁场特性分析及实验研究[J].仪器仪表学报,2012,33(7):1556-1560.
[13]Huang Xinjing,Chen Shili,Guo Shixu,et al.A 3D localization approach for subsea pipelines using a spherical detector[J].IEEE Sensors Journal,2017,17(6):1828-1836.
[14]Huang Xinjing,Chen Guanren,Zhang Yu,et al.Inversion of magnetic fields inside pipelines:modeling,validations,and applications[J].Structural Health Monitoring,2017,17(1):80-90.
[15]黄新敬.海底管道地理坐标测量技术研究[D].天津:天津大学,2015.