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The role of inertial measurement unit in the inertia of oil and gas pipelines
Oct 19, 2018

Pipeline integrity management is an important means to ensure the safe and economic operation of pipelines. Pipeline location parameters are important basic data for pipeline integrity management. In-situ detection technology for oil and gas pipeline inertia measurement, the inertial measurement unit (IMU) consisting of three-dimensional orthogonal gyroscope and accelerometer is the main measurement equipment, and the position and velocity are corrected by ground GPS reference point and odometer data, which can accurately measure pipeline Centerline coordinates for digitization and visualization of pipeline management.


Using the obtained high-precision centerline coordinate parameters, it is possible to effectively identify and evaluate the pipe bending strain induced by environmental factors. By combining the defect parameters with the pipe centerline coordinates, accurate positioning of the defects can be achieved, and a pipeline defect maintenance drawing can be generated.


The basic principle of pipeline inertial mapping is the Newtonian motion law, which is basically the same as the inertial navigation system (INS) used in aerospace navigation. At present, the pipeline mapping test also uses the strapdown inertial navigation system. The core component is the IMU consisting of a three-dimensional orthogonal gyroscope and accelerometer. Gyro and accelerometers are used to measure the angular velocity and motion acceleration of the object in three directions. The collected and recorded data are processed by special calculation software, and the speed, position and attitude of the detector at any time can be obtained. Information, get the centerline coordinates of the pipe.


Inertial mapping internal detection is based on the autonomous mapping of the strapdown inertial navigation system. It has the advantages of independent work, all weather, no external environment interference, no signal loss, etc. It is very suitable for long-term automatic operation in the pipeline. However, due to the drift of the inertial device, the error accumulates rapidly with time, and other navigation methods, such as GPS, odometer, etc., need to be corrected. Therefore, the inertial mapping internal detection system includes an auxiliary positioning odometer and a ground calibration box in addition to the core component IMU.


When the internal detector travels in the pipeline, the IMU collects three gyroscopes, three accelerometers, and odometer data at a certain frequency and stores them in the system disk. When the system passes the ground GPS reference point, it communicates with the calibration box to record the moment when it passes the ground calibration point. After completing the whole pipeline inspection, the system downloads all the data to the ground computer, combines the GPS location information of the ground high-precision reference point, and uses the integrated navigation software to process the data to obtain the position data and the centerline trajectory graph of the entire pipeline.


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