Simulation and Error Analysis for Pipeline Internal Positioning Based on Integrated Navigation

doi:10.11885/j.issn.1674-5086.2015.03.06.06

Abstract

Abstract: The separate application of the current pipeline internal positioning methods may fail to satisfy the actual accuracy requirements of pipeline works. Therefore, an effective method of improving the positioning accuracy is to employ the integrated navigation technology. The existing research on the pipeline internal inspection and positioning technology in China and abroad mainly focuses on a multi-theory and multi-method combination. Hence, this study proposes a positioning method based on integrated navigation, which consists of odometers and the Strap-down Inertial Navigation System (SINS), according to the internal positioning characteristics of the oil and gas pipeline. Furthermore, the simulation models of the trajectory simulator, the SINS device, and the odometer based on the Kalman filter data fusion technology are established. In addition, a simulation experiment is conducted, and the error analysis for the integrated positioning technology is performed, thereby achieving a 0.03% positioning accuracy without auxiliary equipment, such as land marks and fixed-point magnetic markers.

Key words: odometer, integrated navigation, Kalman filter, trajectory simulator, simulation model

CLC Number:

TE832

WANG Zegen, TAN Jing, WANG Jinzhu. Simulation and Error Analysis for Pipeline Internal Positioning Based on Integrated Navigation[J]. 西南石油大学学报(自然科学版), 2017, 39(2): 163-171.

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URL: http://journal15.magtechjournal.com/Jwk_xnzk/EN/10.11885/j.issn.1674-5086.2015.03.06.06

http://journal15.magtechjournal.com/Jwk_xnzk/EN/Y2017/V39/I2/163

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