Pipe Mapping Inertial Navigation System

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

Product Details

                                                                                       

Product overview:

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.


Technical feature:      

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.

Main technical indicators

1.1 Readiness time

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.

1.2 Power supply system

The system power supply voltage of DC24V IMU ± 6VDC power supply.

1.3 Power consumption index

The maximum power consumption at startup is less than 20W (startup time is 15s) and the maximum power consumption at work is less than 12W.

1.4 Insulation Resistance

The insulation resistance between the points on the external connector and the shell is ≥ 1m Ω.

1.5 Measuring range

The measurement range of the inertial pipe mapping Inertial Navigation System is shown in table 3.1.

Table 3.1  Pipe Mapping Inertial Navigation System measuring range

Project

Measuring range

Speed range

-50 m / s ~ 50m / s

Pitch angle range

± 90 °

Roll angle range

± 180 °

Heading angle range

0 ° ~ 360 °

1.6  Precision index

Inertia track surveying system piping navigation measurement precision as shown in Table 3.2.

Table inertia track surveying system piping navigation measurement accuracy composition

Project

Maximum measured error

Height

± 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.

1.7 Mechanical dimensions and interfaces

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.

Pipe Mapping Inertial Navigation System

FIG. 3.1 Installation configuration diagram

1.8 Electrical Interface

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

 

Connector dot

Definition

Remark

1,2

Power input Positive

+ 24VDC

3,4

Negative Power Input

24V ground

5-13

NC

Retention

 

Table 3.4 X2 Debug Interface

 

Connector dot

Definition

Remark

1

NC

Retention

2

NC

Retention

3

Preferably the odometer signal

An external signal input to the odometer

4

GND

Signal ground

5

RXD0

Serial data RXD

6

TXD0

TXD serial data

7

GND

Signal ground

8

RXD1

Synchronous serial RXD

9

TXD1

Synchronous serial port TXD

10

USB_DAT +

USB_D +

11

USB_DAT-

USB_D-

12

USB_GND

USB_GND

13

USB_+ 5V

USB_+ 5V

1.9 Weight Indicators

Not more than 20kg.

1.10  Temperature indicators

Range of working temperature:-10 ℃ ~ 70 ℃;

Storage temperature range:-10 ℃ ~ 60 ℃.

1.11  Vibration indicator

Vibration: 5g, 20Hz ~ 2000Hz, sweep;

Impact: 200g, 0.5ms, half sine wave.

1.12  Compression index

The system uses compression sealed capsule, the pressure of not less than 12Mpa.

1.13  Data storage

Data storage: not less than 8G.

1.14  Sensor Specifications

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

 

Performance

FOG

Measuring range

-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

Shock

200g

Output Interface

RS422

 

Table 3.6 Accelerometer key performance indicators

 

Performance

Quartz flexible accelerometer

Measuring range

-2g ~ + 2g

Resolution threshold

≤80 ug

Scale factor

1.0 ~ 1.2mA / g

Monthly consolidated bias error

≤40ug

Integrated scale factor error month

≤60ppm

The temperature coefficient of the bias value

≤20ug / ℃

Scale Factor Temperature Coefficient

≤80ppm / ℃

Shock

200g (0.5ms, Half sine wave)

 

Application fields:              


  Pipeline detection                    

 Pipe mapping inertial navigation system

Pipe mapping inertial navigation system1.jpg

 


 If interested, pls contact us info@ericcointernational.com


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