A deep-sea pipeline position and attitude-measuring device based on pipeline outer circle positioning can measure the spatial relative positions of the end faces of two oil pipelines in the deep sea. This device can provide the necessary data to make a transition pipeline connecting two sections of oil pipelines together. However, after analyzing the data measured by this device, it is found that the measurement data has a large error because the error transmission coefficient of the measurement value is too large. In order to reduce the error transfer coefficient, a new measuring device for measuring the posture of deep-sea pipelines by a tensioning rope was proposed. Unlike previous measuring devices, this measuring device is based on the positioning of the flange center of the pipe instead of the pin on the outer circle of the pipe. With the comparison of positioning methods between fixing in the center of flange and fixing the outer wall of pipeline, the former can reduce the transition matrix in the process of solving the relative position of the two pipes, and then reduce the magnification of the measurement sensor error. It also reduces two measurement parameters. The solving formula of the position and attitude of the measuring device based on the outer circle positioning of the pipeline is analyzed. It is proved that the error transmission coefficient of the measuring device based on the flange center positioning is smaller. Experiments show that compared with the positioning method based on the outer circle of the pipe, the positioning method based on the flange center has a higher accuracy.acoustic measurement system requires a large amount of equipment, and the installation work takes a long time. It is generally used for large-area mapping and geological exploration of seabed topography, and is rarely used in the measurement of underwater pipeline poses [9,10]. Satellite positioning technology is applied to a variety of underwater positioning tasks. For example, a measurement system consisting of underwater GPS and a single beam measuring instrument can effectively solve underwater high-precision positioning problems [11,12]. Drawstring measurements include traditional tensioning rope measurements and intelligent drawstring measurements. A diver carrying a measuring tool under water carries out the traditional tensioning rope measurement method [13]. The drawstring intelligent measurement method is suitable for a deep water environment, and it has the characteristics of high measurement accuracy and real-time dynamic measurement [14]. For example, the unmanned drawstring system developed by NGI of Norway, which is not limited by water depth, has a length accuracy of ±10 cm and an angular accuracy of ±0.5 • [15]. Professor Wang Liquan of Harbin Engineering University in China proposed a deep-sea measurement system on the pipeline attitude. Its maximum working water depth is 1500 m, which can achieve a measurement accuracy of ±50 mm and ±1 • within a 5 m working range [16]. In addition to the above met...