Features: 1.Long time high precision navigation technology.(100h+) 2.High precision correction technology in Mark spot 3.Spiral trajectory error compensation technique 4.Closed pipe "special situation" processing technology 5.Pipeline environmental adaptability technology 6.Accurate positioning in pipeline surveying and mapping
Surveying and mapping inertial navigation system can finish oil and gas pipeline pipe trajectory, such as coordinate measurement, the parameters such as the implementation of the pipe and level meters accurate positioning, auxiliary pipeline safety assessment and damaged point positioning, with a high degree of automation, low power consumption, long continuous working time, high accuracy of measurement, pipeline deformation measurement precision of centimeter level, the product successfully in CNOOC, petrochina pipeline detection engineering application.
Long time high precision navigation technology(100h+);
High precision correction technology in Mark spot;
Spiral trajectory error compensation technique;
Closed pipe "special situation" processing technology;
Pipeline environmental adaptability technology;
Accurate positioning in pipeline surveying and mapping.
The Pipe Mapping Inertial Navigation System is powered on before the pipeline detection is carried out, and the time from power up to the initial alignment end time (preparation time) is less than 30 minutes.
The system power supply voltage of DC24V IMU ± 6VDC power supply.
The insulation resistance between the points on the external connector and the shell is ≥ 1m Ω.
Table 3.1 Pipe Mapping Inertial Navigation System measuring range
-50 m / s ~ 50m / s
Pitch angle range
± 90 °
Roll angle range
± 180 °
Heading angle range
0 ° ~ 360 °
Inertia track surveying system piping navigation measurement precision as shown in Table 3.2.
Table inertia track surveying system piping navigation measurement accuracy composition
Maximum measured error
± 2m (1σ)
Horizontal positioning accuracy (east, north)
± 2m (1σ)
Pitch angle (initial alignment)
± 0.15 °
Roll angle (initial alignment)
± 0.15 °
Heading angle (initial alignment)
± 3 °
Note: The above set point accuracy indicators MARK standard distance 1Km ~ 2Km, speed 1m / s given above. Positioning precision is provided with a MARK standard distance inversely proportional to the speed, but not the proportional relationship.
IMU carries out the sealing and pressure function of the system by placing it in the compression seal chamber, and the compression seal chamber passes through the French side.
The door is fitted with two sealed connectors and a switch for electrical connection to the outside. The detailed installation structure of the system is shown in figure 3.1. The mechanical dimensions of IMU are 122mm outside diameter, 303mm length and 162mm flange outer diameter, 138mm shell outer diameter and 369 mm. length.
FIG. 3.1 Installation configuration diagram
Two 13-core sealed connectors (Model CT28M-13Z) are installed on the sealed hatch door, and the output point definitions are shown in Table 3.3, Table 3.4.
Table 3.3 X1 Power Interface
Power input Positive
Negative Power Input
Table 3.4 X2 Debug Interface
Preferably the odometer signal
An external signal input to the odometer
Serial data RXD
TXD serial data
Synchronous serial RXD
Synchronous serial port TXD
Not more than 20kg.
Range of working temperature:-10 ℃ ~ 70 ℃;
Storage temperature range:-10 ℃ ~ 60 ℃.
Vibration: 5g, 20Hz ~ 2000Hz, sweep;
Impact: 200g, 0.5ms, half sine wave.
The system uses compression sealed capsule, the pressure of not less than 12Mpa.
Data storage: not less than 8G.
The system uses sensors tailored specifically for oil equipment and instruments FOG flexible quartz accelerometers, after recent years of techniques and process improvements, and mature more stable sensor performance, the main technical indicators in Table 3.5 and Table 3.6.
Table 3.5 Key Performance Indicators gyro
-500 ° / S~ +500 ° / S
Bias repeatability (1 [sigma])
≤0.2° / h
Bias stability (1 [sigma])
≤0.2° / h
Random Walk (3σ)
≤0.05 ° / h1/2
Scale factor nonlinearity (3 [sigma])
≤2 × 10-4
Scale factor asymmetry (3 [sigma])
≤2 × 10-4
Scale factor repeatability (3 [sigma])
≤2 × 10-4
Table 3.6 Accelerometer key performance indicators
Quartz flexible accelerometer
-2g ~ + 2g
1.0 ~ 1.2mA / g
Monthly consolidated bias error
Integrated scale factor error month
The temperature coefficient of the bias value
≤20ug / ℃
Scale Factor Temperature Coefficient
≤80ppm / ℃
200g (0.5ms, Half sine wave)
Pipe mapping inertial navigation system
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