公开(公告)号：US06243657B1

公开(公告)日：2001-06-05

申请号：US08996504

申请日：1997-12-23

申请人： Alan Tuck ,  Gary Brayson ,  Mario B. Ignagni ,  Alan B. Touchberry ,  Donald William Anderson ,  Stephen James Glen ,  James Michael Alexander Gilman

发明人： Alan Tuck ,  Gary Brayson ,  Mario B. Ignagni ,  Alan B. Touchberry ,  Donald William Anderson ,  Stephen James Glen ,  James Michael Alexander Gilman

IPC分类号： G01C900

CPC分类号： G01N29/2412 ,  G01C21/165 ,  G01N29/265 ,  G01N2291/0234 ,  G01N2291/2636

摘要： A pipeline inspection and defect mapping system includes a pig having an inertial measurement unit and a pipeline inspection unit for recording pig location and defect detection events, each record time-stamped by a highly precise onboard clock. The system also includes several magloggers at precisely known locations along the pipeline, each containing a fluxgate magnetometer for detecting the passage of the pig along the pipeline and further containing a highly precise clock synchronized with the clock in the pig. The locations of the various magloggers are known in a north/east/down coordinate system through a differential global positioning satellite process. Finally, a postprocessing off-line computer system receives downloaded maglogger, inertial measurement, and odometer data and through the use of several Kalman filters, derives the location of the detected defects in the north/east/down coordinate frame. Consequently, a task of identifying sites for repair activity is much simplified.

摘要翻译： 管道检查和缺陷映射系统包括具有惯性测量单元的猪和用于记录猪位置和缺陷检测事件的管线检查单元，每个记录由高度精确的车载时钟加标记。 该系统还包括沿着管道的精确已知位置的几个磁化器，每个磁化器包含用于检测猪沿着管道通过的磁通门磁力计，并且进一步包含与猪时钟同步的高度精确的时钟。 通过差分全球定位卫星过程，在北/东/下坐标系中已知各种药剂师的位置。 最后，后处理离线计算机系统接收下载的maglogger，惯性测量和里程表数据，并通过使用几个卡尔曼滤波器，导出检测到的缺陷在北/东/下坐标系中的位置。 因此，识别修复活动的位置的任务被大大简化。