Shenyang University of Technology School of Information Science and Engineering, Shengyang, , China *Corresponding author

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1 7 rd Inernaional Conference on Arificial Inelligence and Indusrial Engineering AIIE 7 ISBN: A Mehod of Geocoordinae Measuremen Based on Inerial Navigaion of Long Oil and Gas ipelines Li-jian YANG, Cun-uan FAN, Song-wei GAO* and eng JIN Shenang Universi of echnolog School of Informaion Science and Engineering, Shengang, 87, China *Corresponding auhor Kewords: Inerial navigaion ssem, Kalman filer algorihm, Geographic coordinaes, Daa fusion, osiioning accurac. Asrac. In order o solve he prolem of geocoordinae measuremen and rajecor disriuion of uried long oil and gas pipelines, he posiioning accurac of pipeline is improved. In his paper, he daa fusion of he mileage daa Kalman filering algorihm is used o solve he segmened rajecories of groscope and acceleromeer oservaion daa colleced inerial navigaion ssem. Calculaing he oal mileage of 49.9 m, each posiion error wih checpoin conras are conrolled o less han m. he overall rend wih map mach eacl, inegraed posiioning accurac is.98. I has a cerain reference for using inerial navigaion echnolog uried long disance oil and gas pipeline geographic coordinaes measuremen. Inroducion Because of he man domesic oil and gas pipeline is uil in fifies and siies, limied o he condiions and some hisorical facors, man of he consrucion of underground pipeline is no sandard and no ver deailed descripion of he pipeline roue a he same ime. herefore, i is of grea significance o reduce he cos of ecavaion and save relevan epenses using inerial navigaion echnolog for he locaion of he pipeline geographic coordinaes. In 99, Bennamoun proposed using GS, sonar and he srapdown inerial navigaion are comined, he mehod of calculaion o correc ins using GS posiion he posiion of he cumulaive error, and he use of inerial navigaion calculaion good capaili of ani-inerference and coninuous posiioning mae up for he inadeuac of GS posiioning []. In 5, Isaac Sog pu forward such as using GS comined wih low precision of he srapdown inerial navigaion, he mehod of using GS posiioning precision of he low precision of inerial navigaion [-4]. Gong-min YAN and Yong-uan IN of norhwesern polechnical universi pu forward using he inerial navigaion ssem and auo mileage meer cominaion of inegraed navigaion ssem, using he complemenari eween he wo and improving he posiioning precision [5-6]. In his aricle, hrough he srapdown inerial navigaion ssem, he asic principle of using he inerial navigaion ssem, groscope and acceleromeer oservaion daa were colleced hrough he daa fusion algorihm, o accurael measure of long disance pipeline laiude and longiude coordinaes, so as o achieve he purpose of accurael measuring pipe disriuion. rinciple of Inerial Navigaion Ssem Wor Flow of Inerial Navigaion Ssem Inerial navigaion measuremen ssem is carring on he deecor in he pipe, using groscope and acceleromeer providing hree ais coordinae informaion, he algorihm of he disriuion of underground pipeline and pipe disriuion of laiude and longiude. I can ae a secion from he pipeline, and use he given iniial poin o pla he channel's longiude and laiude coordinae plaac, which can displa he corresponding pipeline geographic informaion. he woring process of he measuremen ssem is shown in figure. 9

2 Inerial navigaion ssem ground Figure. Mileage correcion algorihm diagram. rinciple of Inerial Navigaion Ssem Srucure Adop he calculaion wa of navigaion of inerial navigaion ssem, and he inerial sensor measuremen of carrier moion ineria daa, which realie he carrier a an ime he posiion and posure of he calculaion. he inerial sensor can e insalled on he carrier wihou reling on he carrier o uild oher faciliies o provide informaion, in order o complee he navigaion. he principle loc diagram of inerial navigaion ssem is shown in figure. Acceleromeer Groscope Figure. he principle of he M inerial navigaion ssem. Figure. Mileage correcion algorihm diagram. Figure, he groscope and acceleromeer measures vecor Angle moion informaion and line movemen, he compuer according o he measuremen informaion decoding shipmen carrier heading, aiude, veloci and posiion. he aiude mari soluion is euivalen o he esalishmen of a mahemaical plaform, which can calculae he speed and posiion of he seleced navigaion coordinae ssem means of he insrucion uani of he mahemaical plaform. Aiude Mari Correcion he srapdown mari is also called he aiude mari, which is he direcion cosine mari eween he vecor coordinae ssem and he navigaion coordinae ssem [7]. he carrier aiude Angle is acuall he orienaion relaion eween he carrier coordinae ssem and he navigaion coordinae, and he geographic coordinae ssem oenu is generall used as he navigaion coordinae ssem, which can e oained pushing i o: n C When calculaing he rajecor of he longiude and laiude coordinaes of he pipeline, i is necessar o modif he M mari, which is modified he uaernion mehod. he uaernions are: Error Compensaion Direcion Navigaion Cosine Mari Informaion Direcion Cosine Calculaion Elemen osiion Aiude laform Veloci eference oaion ae Mari Direcion Cosine Aiude Elemen Calculaion SINS Calculaion Mileage Wheel Kalman Filer Error Compensaion Aiude Speed osiion Save and Displa,,, i j In euaion : is scalar; is a vecor. If he vecor is fied, he moving coordinae ssem is roaed in an Angle relaive o he reference frame. he ransformaion of he projecion of he uaernion vecor in he wo coordinae ssems is: rac he Oupu 9

3 * * 4 he coordinae ransformaion of he fied vecor, he form of he mari is wrien in he form of mari, and he geographic coordinae ssem is he reference coordinae ssem. * * M M 5 In which, he four elemens are used and consruced respecivel. Epand and remove he firs row and he firs column is: 6 ha is: 7 In euaion 6 and 7, i is ovious ha wo aiude ransformaion marices are eual. If ou now he four elemens of, ou can find he nine elemens of he aiude mari and form he aiude mari. Conversel, if ou now he nine elemens of he aiude mari, ou can also find four elemens of he four elemens. Kalman Filer Algorihm Kalman filer is he mos esimale heor and is a recursive linear minimum variance esimaion mehod. Kalman filering echnolog is esseniall a se of recursion mehod implemened digial compuer [8].he ime updae is deermined he measured updae resul of he previous sep and he prior informaion in he design of alman filer. he measured updae is deermined ased on he measured value oained in real ime on he asis of ime updae. If he measured value of momen is nown as Z, hen esimae ~ is solved he following euaion: Sae one-sep predicion euaion:, / 8 In he formula: is he alman filer esimae of sae, which can e calculaed using he measured value of - momen and previous momens; / is a one-sep predicion of oained using. Euaion of sae esimaion: / / Z K 9 Filer gain euaion: / / K One sep predicion mean variance:,, / Esimaed mean suare error euaion: 9

4 I K I K K K / Euaion 8 - is he asic euaion for discree alman filer. As long as he iniial values of and are given, and Z is measured according o he measured ime, he sae esimaion of he momen can e presened recursivel. As he oserved value, he sae error is used as he sae uani, and alman filer is used o esimae he sae error. he error compensaion is made he mileage correcion mehod for he SINS calculaion of he pipeline posiioning. Inerial Navigaion Deecion Ssem Inerial Navigaion Ssem Sensor Saus Groscope and acceleromeer daa as he core of he laiude and longiude pipe fiing daa, he inegri of he daa is crucial, groscope and acceleromeer are oh original oservaional daa he,, ais. Inerial navigaion euipmen in he process of pipeline inernal operaion, needs o maser inerial navigaion euipmen in operaion in he process of piching angle, roll angle and heading angle, in order o grasp he pipeline rajecor, he direcion of he groscope and acceleromeer running sae. he daa informaion of he elevaion angle, roll angle and course angle of he inerial navigaion ssem are shown in figure 4, figure 5 and figure 6. Elevaion AngelDegree Sampling oina 6 oll AngelDegree Sampling oina Sampling oina Figure 4. Full elevaion angle informaion. Figure 5. Full roll angle informaion. Figure 6. Full course angle informaion. Figure 4 is he elevaion Angle of he inerial navigaion ssem. hrough he change of he pich angle, i can e seen ha he pipeline is going up or down. Figure 5 for inerial navigaion ssem, he operaion process in he pipe roll informaion, as a resul of he roll angle measuremen range o -8 degrees o +8 degrees. Figure 6 shows ha he course change informaion during he operaion of he euipmen. he course angle is an imporan parameer o correc he rajecor in he course of he rajecor calculaion. Calculaion esuls and Error Analsis he Soluion rocess and he esul Displa In he calculaion process, he alman filer algorihm is used o predic he daa fusion of he mileage daa o calculae he rajecor. he 58 poins colleced K are MAK poins, and he secions are caliraed a a disance of aou m. Figure 7 shows he maching of he verificaion poin on he Ovid map. Figure 8 shows he geocoordinae rajecor of he pipeline. Course AngleDegree 9

5 .. Figure 7. Chec poins mach on he map. Figure 8. Geocoordinae locus of he channel. Figure 9. he calculaed rajecor compared wih he sandard curve. Figure 8 for in all period of laiude and longiude of he wire pah diagram, sealing aili is good. he whole ssem and he lae rajecor calculaion of oh he WGS - 84 coordinae ssem, he overall shape and anasomosed wih he map locaion accurac mee he engineering sandards. Daa Error Analsis of Inerial Navigaion Ssem he daa inerval of he original oupu of inerial navigaion ssem is.s.he corresponding error can e calculaed comparing he calculaed longiude and laiude coordinaes wih he verificaion poin, and he comparison char of he soluion rajecor and he sandard curve is shown in figure 9. he measuremen ssem of he surveing and mapping ssem runs aou 49.9 m and he eernal magneic sandard daa is 58 groups. he acual navigaion and posiioning process is used in 58 groups, and he magneic sandard daa is % efficien. Summar he pipeline locaion deecion is he enire run of m, wih he help of he K measuremen of he checpoin daa. I is compleed he navigaion, posiioning ssem response he real direcion of he pipeline, magneic conforming o he reuiremens of he echnical indicaors. Using inerial navigaion echnolog pipeline geographic coordinaes o descrie, i is eneficial o solve some of he condiions a ha ime and he hisorical facors. Man of he consrucion of underground pipeline is no ver sandard, and descripion of he pipeline roue a he same ime also is no ver deailed prolems, hus o reduce he mainenance cos of he pipeline and improving he efficienc of pipeline mainenance. Acnowledgemen his wor was founded rojec suppored he Naional Major Insrumen Special Funds of he Minisr of Science and echnolog of China Gran No. Y9 75. eferences LaiudeDegree LongiudeDegree Sandard rajecor Calculaing rajecor LongiudeDegree [] Bennamoun, M. he developmen of an inegraed GS/INS/sonar navigaion ssem for auonomous underwaer vehicle navigaion. Auonomous Underwaer Vehicle echnolog, roceedings of he 996: 56~6. [] Isaac Sog, eer.a low-cos GS aided inerial navigaion ssem for applicaion. Maser of Science hesis Socholm, Sweden 5. 94

6 [] Jaejong Yu. An off-line navigaion of a geomer IG using a modified nonlinear fied-inerval smoohing filer. Conrol Engineering racice, 5: 4~4. [4] Li-jian Yang, Zeng-liang Yi, Song-wei Gao. he applicaion of inegraed navigaion ssem in he locaion measuremen of pipeline. Journal of Shenang Universi of echnolog, 6, 84: 44 ~ 47. [5] Julier S., Uhlmann J.K., e al. A new mehod for he nonlinear ransformaion of means and covariances in filers and esimaors. IEEE rans. A. C,, 45 : 477~48. [6] i Zhou, Yong-uan in, Jin-hong Zhang, ec. he iniial alignmen algorihm of he M ased on uaernion alman filer [J]. China Journal of Inerial echnolog,, : [7] Gerasimos G. Nonlinear alman filers and paricle filers for inegraed navigaion of unmanned aerial vehicles. ooics and Auonomous Ssems, : 978~995. [8] Mohinder S., Angus. Kalman filering: heor and pracice-using mala. Wile-iner Science ulicaion, : 6~55. 95