Compensation Method for Pipeline Centerline Measurement of in-Line Inspection during Odometer Slips Based on Multi-Sensor Fusion and LSTM Network

Abstract

The accurate measurement of pipeline centerline coordinates is of great significance to the management of oil and gas pipelines and energy transportation security. The main method for pipeline centerline measurement is in-line inspection technology based on multi-sensor data fusion, which combines the inertial measurement unit (IMU), above-ground marker, and odometer. However, the observation of velocity is not accurate because the odometer often slips in the actual inspection, which greatly affects the accuracy of centerline measurement. In this paper, we propose a new compensation method for oil and gas pipeline centerline measurement based on a long short-term memory (LSTM) network during the occurrence of odometer slip. The field test results indicated that the mean of absolute position errors reduced from 8.75 to 2.02 m. The proposed method could effectively reduce the errors and improve the accuracy of pipeline centerline measurement during odometer slips.

High-Precision and Four-Dimensional Tracking System with Dual Receivers of Pipeline Inspection Gauge

“…where the pitch angle α can be obtained from (17), y can be regarded as the initial value in y-axis and can obtained from (11). Therefore, after measuring the magnetic field radiated by the transmitter and calculating the position corresponding to the maximum values of MFI, the position of the transmitter can be located according to (18).…”

“…Therefore, it is necessary to place above-ground markers (AGM) at regular intervals along the pipeline to communicate with the PIG and correct the accumulated error of the active locating method [18]. At present, the most commonly used AGMs are based on the magnetic flux leakage signal, which uses the magnetic field leaking from the permanent magnet carried by the MFL-PIG to achieve the positioning of the PIG [19].…”

“…In addition, the accurate lateral offset distance between the AGM and the pipeline obtained from the four-dimensional (4-D) tracking, the actual buried depth of the pipeline, etc., are helpful for the excavation and maintenance of the pipeline. At the same time, 4-D tracking of the pipeline is necessary correction information to compensate for the accumulated errors of the pipeline surveying system [18,32]. Qi uses five receiving coils in a horizontal plane to form a receiver array, which has the function of tracking the PIG in multiple dimensions and further improves the tracking accuracy from 40 cm to 20 cm [30].…”

Optimization of the Oil Drilling Monitoring System Based on the Multisensor Image Fusion Algorithm

“…With the year-on-year increase in the amount of drilling engineering operations, the increasing renewal of technology, and the development of the information industry, offshore oil has entered the era of network information [1,2]. According to the characteristics of offshore drilling technology, through special research, test analysis, evaluation optimization, and engineering practice, a complete set of the intelligent auxiliary decision-making monitoring system for offshore oil drilling has been formed [3,4]. It ensures operation safety, improves operation timeliness, saves drilling costs, and provides solid technical support for the exploration and development of offshore oil and gas resources.…”

Odometer Velocity and Acceleration Estimation Based on Tracking Differentiator Filter for 3D-Reduced Inertial Sensor System

“…Therefore, it is necessary to improve the measurement accuracy and reliability of the odometer using error estimation technologies. Recently, many scholars have proposed various algorithms and approaches to improve this problem based on KFs [16,17]. However, KF and its improving algorithms need to build the object models to extract state information, but the actual velocity error model parameters cannot be measured accurately.…”