管道IMU坐标数据校正技术及运用
Correction technology and application of pipeline IMU coordinate data
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- 引用格式:
-
成海军,吴骏,王超,夏明坤,朱林,孙泽黎,何文成.管道IMU坐标数据校正技术及运用[J].天然气与石油,2026,44(3):118-123.doi:10.3969/j.issn.1006-5539.2026.03.015
Cheng Haijun, Wu Jun, Wang Chao, Xia Mingkun, Zhu Lin, Sun Zeli, He Wencheng.Correction technology and application of pipeline IMU coordinate data[J].Natural Gas and Oil,2026,44(3):118-123.doi:10.3969/j.issn.1006-5539.2026.03.015
- DOI:
- 10.3969/j.issn.1006-5539.2026.03.015
- 作者:
- 成海军 吴骏 王超 夏明坤 朱林 孙泽黎 何文成
Cheng Haijun, Wu Jun, Wang Chao, Xia Mingkun, Zhu Lin, Sun Zeli, He Wencheng
- 作者单位:
- 四川德源兴能科技股份有限公司, 四川 成都 610041
Sichuan Deyuan Xingneng Technology Co., Ltd., Chengdu, Sichuan, 610041, China
- 关键词:
- 误差类型;IMU校正算法;坐标偏移;数据校正;实用性
Error type; IMU correction algorithm; Coordinate offset; Data correction; Practicality
- 摘要:
- 为提高利用现阶段管道惯性测量单元(Inertial Measurement Unit,IMU)坐标数据的准确性,阐述了惯性导航系统误差来源,并在宏观数据层面提出了管道IMU坐标数据存在的两种主要误差类型(刚性平移及旋转误差)的现状,在此基础上研究了一种IMU坐标数据校正算法,实现在宏观层面对管道IMU坐标数据校正及优化。IMU检测数据校正算法以模型修正算法为主,辅以现场少量管道特征的中线地理坐标数据,融入算法模型进行叠加计算,来解决管道IMU坐标数据出现偏移的问题。实验结果证明,管道IMU坐标数据校正技术可明显降低刚性平移及旋转带来的管道IMU坐标数据误差,提高数据质量,误差值平均降幅达80%,在优化管道IMU坐标数据、提高数据的精度方面具有指导作用。
To improve the accuracy of current pipeline Inertial Measurement Unit(IMU) coordinate data, the sources of inertial navigation system errors are analyzed. At the macroscopic data level, two main types of errors—rigid translation and rotation errors—existing in pipeline IMU coordinate data are identified. Based on this, an IMU coordinate data correction algorithm is developed to achieve correction and optimization of pipeline IMU coordinate data at the macroscopic level. This method primarily utilizes a model correction algorithm supplemented by a small amount of on-site centerline geographic coordinate data of pipeline features, which is integrated into the algorithm model for superimposed calculation to address the offset problem of pipeline IMU coordinate data. Test results demonstrate that the pipeline IMU coordinate data correction technology can significantly reduce geographic coordinate errors caused by rigid translation and rotation, improving data quality and reducing the error magnitude by 80% at average. It provides guidance for optimizing pipeline IMU coordinate data and enhancing data accuracy.
