The method of measurement for buried pipeline centerline based on data fusion
Rui Li1,2, Qingshan Feng1, Maolin Cai2, Haijun Li3, Chenghai Liu1, Xiaoming Zhao1
1Petrochina Pipeline Company, Langfang 065000, China
2Automation Science and Electrical Engineering Collage of Beihang University, BeiJing, 100000, China
3China aviation thirty-three Department, Beijing, 100000, China
For the problem of long-distance oil and gas pipeline centerline measurement, a method of multi-sensor data fusion using the pipe centerline calculation is presented. The error model is set up by the system of navigation and nonlinear dynamic systems. Using the data of IMU and odometer to calculate the information of pig navigation. All of the errors were calculated by Kalman filter for estimation and compensation. It is concluded that the error for horizontal is 0.35m, the error for vertical is 0.74m for comparison of same pipeline centerline in different inspection time. One feature point is dug to verify the accuracy of the inspection which error is less than 1m. This method is effective for the buried pipeline to perform safely.