SIT-1400 Navigational Topographic in-line Inspection Complex

(设备/材料)

型号编号: СИТ-1400

状态: New

位置或存放国家: Russia

服务工程支持: Yes

保证: No

价钱: 要求价格

描述:

Until now, the method for finding the location of defects on the basis of in-line inspection was mainly based on positioning using a measuring tool from the known position of the markers. Moreover, the accuracy of this method is significantly limited (1: 5% of the measured distance) due to the error of the measuring tool, the sufficient uncertainty of the MT position on the terrain and the influence on the accuracy of measuring the terrain relief and local bends of the MT path in plan. Known methods for positioning MT tracks using geodetic equipment, including those based on GPS technology. In this case, geodetic measurements are able to determine the coordinates of survey points with an error of 2: 5 cm. In this case, the error in linking survey points to the position of the axial MT is about 20 cm, and from a distance of MT from units to tens of meters. In addition, it should be noted a rather large complexity and cost of geodetic positioning.

概观:

The latest development of our company is the navigation and topographic complex SIT-1400, designed to determine the geodetic coordinates and spatial position of existing MTs with the aim of:

checking the technological parameters of MT for compliance with construction documentation;
binding of corrosion damage of MT to the coordinates of the terrain;
determination of local MT displacements;
land allocation issues.

The main distinguishing feature of our positioning method is the determination of the geodetic coordinates of the MT axial line with a distance resolution of 3: 5 cm from the data of direct measurements of the motion parameters of the in-tube inspection projectile using precision odometers and modern inertial sensors. The root-mean-square error of positioning of any MT object (including corrosion damage) is about 50 cm.

The navigation and topographic module can be installed on a flaw detector or stress-corrosion projectile manufactured by our company. In this case, based on the results of one pass, a report on a comprehensive MT survey is compiled.

The developed methodology and software allows, according to the SIT pass, to bind to the terrain the results of the corrosion survey performed by third parties.

The hardware module of the navigation and topographic complex uses the products of leading manufacturers of modern electronic equipment.

The algorithms for determining the spatial position of the MT axial line are based on the integration of the corrected inertial navigation system, which is part of the navigation and topographic projectile, and the satellite navigation system. The theory and methods of observing identification devices, optimal Kalman filtering, and modal control are widely used. Theoretical and experimental studies of the dynamics of in-tube inspection shells of various types and diameters have been carried out. Based on their results, methods and algorithms for identifying and compensating for errors of inertial sensors and an odometric system have been developed, which ensures high accuracy of MT track positioning when using primary information as a part of a complex of mass-produced sensors

SIT-1400
Outer diameter (D) of the projectile and template, mm	1420
The length of the projectile and template, mm	2501
The mass of the shell and the template, kg	5100
The maximum thickness (t) of the wall of the examined pipe, mm	25
The smallest radius of the longitudinal bend of the examined pipe	3D
Discretization of measurements along the axis of the pipe, mm	5-10
Accuracy of positioning of TP elements:
along the length of TP,% of the distance to the nearest marker	0.1
along the geodetic coordinates of the TP axis at a distance between the markers of not more than 2 km, (1s), m	0.5
The error in determining the geometric parameters of the elements MT, (1s), angular degree:
the angle of curvature or bending of each pipe	0.2
axial MT curvature angle at each transverse junction	0.2
The error of identification of local displacements of the axial line of the TP, during repeated examinations, m	no more than 0.2
Maximum permissible velocity of the projectile along the pipeline, m / s:
with minimal radii of curvature 3D	5.8
at minimum radii of curvature 5D	9.7
The upper pressure of the transported product, MPa (kgf / cm ² )	8 (80)
Operating temperature range, ^о С	-20: +60
The maximum length of the site examined in one pass, km	200

公司简介

Gazpriboravtomatikaservis JSC

地点: Russia, Saratov

主要产品/服务: Development and operation of in-line technical diagnostics for gas mains