Numerical Investigation on ELF Electromagnetic Field Distribution of Pipeline Robot Tracking and Positioning System Using UAV

Pipeline robot, as a new type of equipment for pipeline operations such pigging and detection, will play an increasingly important role in the operation maintenance oil gas networks. The tracking positioning technology during its process is one essential topics to improve operating performance robots eliminate potential accidents. This paper presents overall design wireless system based on extremely low frequency (ELF) electromagnetic method using unmanned aerial vehicle (UAV). Starting from classical theory, mathematical model distribution ELF field buried metal environment established. According characteristics wave transceiver equivalent magnetic dipole transmission deduced. Based model, attenuation external space are analyzed by numerical simulation. influence geometrical dimensions, environmental working parameters, other factors intensity outside given at same time. Finally, discussed horizontal-laying inclined-laying pipeline, robot proposed this basis. scheme practical effective, it suitable real-time pipelines whose slope no more than 60 degrees with known or unknown distribution.