SYSTEM FOR DETERMINING COORDINATES OF ROUTES OF UNDERGROUND PIPES Russian patent published in 2011 - IPC G01V8/10 F16L55/48 

FIELD: physics.

SUBSTANCE: system for determining coordinates of the route of underground pipes has an inspection projectile, elastic cuffs, a distometer, a computation and control unit, a recorder, a three-component gyroscopic device for measuring angular velocity and a three-component accelerometer, a marker signal detector with an analogue-to-digital converter, a controller and a temperature sensor, an onboard processor, a unit for entering marker points, a unit for identifying zero offset of inertial sensors, an adder, a unit for calculating correction signals on pitch and roll angles, a unit for calculating Cartesian coordinates, a unit for calculating estimates of orientation parameters, a unit for generating estimates of orientation parameters of a pipe. The method is realised using an intra-pipe inspection projectile and ground-based subsystem which additionally includes a unit for generating estimates of orientation parameters of a pipe, as well as using wheels fitted outside the projectile with deviation of the direction of the axis of rotation of said wheels from the perpendicular to the longitudinal axis to provide rotation of the projectile around the longitudinal axis of a thermally controlled container during movement thereof.

EFFECT: high accuracy of determining coordinates of the route of a pipe owing to compensation for errors caused by angular displacement of the longitudinal axis of the intra-pipe inspection projectile relative the longitudinal axis of the pipe.

6 dwg