基于多传感器数据融合的长输埋地管道中心线测量

doi:10.7623/syxb201405021

石油学报 ›› 2014, Vol. 35 ›› Issue (5): 987-992.DOI: 10.7623/syxb201405021

基于多传感器数据融合的长输埋地管道中心线测量

李睿^1,2, 冯庆善¹, 蔡茂林², 李海军³, 张海亮¹, 刘成海¹, 赵晓明¹

1. 中国石油管道公司河北廊坊 065000;
2. 北京航空航天大学自动化科学与电气工程学院北京 100083;
3. 北京自动化控制设备研究所北京 100074

收稿日期:2014-03-26 修回日期:2014-07-22 出版日期:2014-09-25 发布日期:2014-08-05
通讯作者: 李睿，男，1983年7月，2009年获吉林大学学士学位，现为北京航空航天大学博士研究生、中国石油管道公司管道完整性管理中心主管，主要从事管道完整性管理工作。kjlirui@petrochina.com.cn
作者简介:李睿，男，1983年7月，2009年获吉林大学学士学位，现为北京航空航天大学博士研究生、中国石油管道公司管道完整性管理中心主管，主要从事管道完整性管理工作。kjlirui@petrochina.com.cn
基金资助:
中国石油天然气股份有限公司项目“漠大线冻土区管道安全运行关键技术研究”（油气1104-03）资助。

Measurement of long-distance buried pipeline centerline based on multi-sensor data fusion

Li Rui^1,2, Feng Qingshan¹, Cai Maolin², Li Haijun³, Zhang Hailiang¹, Liu Chenghai¹, Zhao Xiaoming¹

1. Petrochina Pipeline Company, Hebei Langfang 065000, China;
2. School of Automation Science and Electrical Engineering, BeiHang University, Beijing 100083, China;
3. Beijing Automatic Control and Equipment Institute, Beijing 100074, China

Received:2014-03-26 Revised:2014-07-22 Online:2014-09-25 Published:2014-08-05

摘要/Abstract

摘要：

针对长距离油气管道的中心线测量问题，提出了一种利用多传感器数据融合的管道中心线计算方法。当使用管道内检测器对长距离油气管道进行内检测时，在内检测器上装载惯性测量单元（IMU）和里程计，通过加载低频发射机激发地面GPS标记盒获得内检测的位置信息。使用导航系统和非线性动态系统进行误差建模，利用IMU数据及里程计数据进行航位推算，并采用扩展型卡尔曼滤波器对惯导系统及里程计的各项误差进行估计和补偿，结合地面GPS标记点数据最终得出准确的管道中心线位置信息。通过对同一节长度的管道在2次不同时间测量的管道中心线轨迹数据进行对比分析可知，两次测量获得的惯导中心线数据在水平方向的综合偏离误差为0.35 m，高度方向的综合误差为0.74 m。为进一步验证测量精度，对埋地管道某处特征点进行了开挖验证，检测器的误差在1 m以内。为埋地油气管道的安全运行提供了一种有效的测量手段。

关键词: 长输管道内检测, 传感器融合, 惯性导航, 扩展卡尔曼滤波器, 误差修正

Abstract:

This study presents a multi-sensor data fusion method for solving the problem in surveying long-distance oil-gas pipeline centerline. During in-line inspection (ILI) of long-distance oil-gas pipeline centerline, an inertial measurement unit (IMU) and an odometer are loaded in the ILI. Additionally, a low-frequency transmitter is loaded to activate the global positioning system (GPS) marker placed on the ground which detects the location of ILI. An error model is constructed using the inertia navigation system (INS) and nonlinear dynamic system. Dead reckoning is performed with IMU data and odometer readings. All errors of the INS and odometer are estimated and compensated using extended Kalman filter. Finally, accurate position of pipeline centerline is corrected with data of the GPS marker. Trajectory curves of the same pipeline centerline are compared between ILI surveys at two different times. Results show that the integrated errors of INS-based centerline data are 0.35 m in the horizon and 0.74 m in the height. Accuracy of the ILI is verified by excavating a buried pipeline at one feature point, demonstrating an ILI error <1 m. The proposed method provides an effective means for safe operation of buried pipelines.

Key words: in-line inspection, long-distance pipeline, sensor fusion, inertia navigation, extended Kalman filter, error correction

中图分类号:

TE973.8

李睿, 冯庆善, 蔡茂林, 李海军, 张海亮, 刘成海, 赵晓明. 基于多传感器数据融合的长输埋地管道中心线测量[J]. 石油学报, 2014, 35(5): 987-992.

Li Rui, Feng Qingshan, Cai Maolin, Li Haijun, Zhang Hailiang, Liu Chenghai, Zhao Xiaoming. Measurement of long-distance buried pipeline centerline based on multi-sensor data fusion[J]. ACTA PETROLEI SINICA, 2014, 35(5): 987-992.

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基于多传感器数据融合的长输埋地管道中心线测量

Measurement of long-distance buried pipeline centerline based on multi-sensor data fusion

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