A mileage correction method of pipeline inertial measurement for dam internal deformation monitoring

摘要

Internal deformation monitoring is of great significance to the safe operation and maintenance of dams. Some scholars have carried out dam internal deformation monitoring by pipeline inertial measurement with a pipeline measurement robot, which has improved the monitoring accuracy and efficiency considerably, compared with the traditional monitoring methods. However, there are still shortcomings in this method. Because the odometer on the pipeline measurement robot will slip or slide, resulting in errors in the mileage of the multiple measurement routes, which hinders the development of the accuracy of pipeline inertial measurement. This paper proposes a mileage correction method based on junction detection to improve the accuracy of pipeline inertial measurement for better dam internal deformation monitoring. The mileage correction method establishes a reference model of pipeline junction location, detects the locations of pipeline junction welds on the measurement routes using two k -mean clustering, and corrects the odometer data based on the difference between the detected and reference locations. We evaluate the enhancement of this mileage correction method on the internal accuracy and deviation values compared with other method for pipeline inertial measurement. The proposed method is validated using measured data from the internal pipeline of Tianchi Dam. The results show that compared with the results directly fused without detection–correction, the method proposed in this paper reduces the root-mean-square error of the results by an average of 30.30% and improves the deviation compared with the reference deformation by an average of 2.3 mm. Therefore, the method has good results and practical applications.