Underground Power Cable Detection and

Inspection Technology
Based on Magnetic Field Sensing at Ground
Surface Level
A SEMINAR REPORT
Submitted by

ANAND K R
in partial fulfillment for the award of the degree
of
Bachelor of Technology
In
ELECTRICAL AND ELECTRONICS ENGINEERING
Of

MAHATMA GANDHI UNIVERSITY

DEPARTMENT OF ELECTRICAL AND ELECTRONICS

ENGINEERING
KMEA COLLEGE OF ENGINEERING
EDATHALA
AUGUST 2016

CERTIFICATE
This is to Certify that the seminar report
entitled
Underground Power Cable Detection
and Inspection Technology
Based on Magnetic Field Sensing at
Ground Surface Level
is a bonafide record of the work done by
Mr./Ms. ANAND K R ,Roll No. 11 under
our supervision, in partial fulfillment of
the requirements for the award of
Degree of Bachelor of Technology in
Electrical and Electronics Engineering
from Mahatma Gandhi University
,Kottayam for the year 2016- 2017.
Designation, Dept of EEE
Designation, Dept of EEE

Seminar Co-ordinator
Seminar Guide
Professor and Head
Department of Electrical and Electronics Engineering

Date:.

ABSTRACT

In this paper, a novel technique based on magnetic field sensing is proposed

for underground power cable detection and inspection.
In this technique, the current sources of the underground power cables are
reconstructed based on a set of measured magnetic field values at the
ground surface level emanated by the electric currents carried by the
underground power cables. The stochastic optimization technique developed
with an artificial immune system algorithm is applied to realize the
reconstruction.
The principle of this method was proved and verified experimentally by our
laboratory setup. Application of this method was demonstrated on the
simulation models of 11- and 132-kV underground power cables. The
reconstruction results of the electrical and spatial parameters of the cables
match accurately with the actual source parameters of the cables in the
models.
This paper shows that the proposed method is able to remotely detect the
horizontal locations and vertical depths of underground power cables with
high accuracy at the ground surface level requiring no prior knowledge about
the exact locations of the cables. Thus, it can be potentially used to develop
a portable locator for providing a map of the underground electrical cables
by simultaneous detection of multiple power lines. This method can also
enable engineers to correctly inspect the operation states of the target
cables during onsite maintenance.

This technique is applicable to various laying conditions and cable

configurations (three core or single core) of the underground power cables.
In addition, this is an entirely passive method and does not need any signal
injection into the cables.

CONTENTS
Chapter No:
Page

ii
Symbols

TITLE

List of Abbreviations
List of
iii
List of Figures

iv
List of Tables
v
1
1

INTRODUCTION
1.1
1.2
1.3

2.1
2.2

Introduction
Advantages of underground power cables
Conventional methods of detection
MAGNETO-RESISTIVE SENSORS

Basic principle
14
Construction
15

1
9
10
14

2.3

Applications
16
PROPOSED METHOD
17
Advanced Magnetic Sensing Using MR

3
3.1
Sensors
3.2
19
4
23
4.1
23
4.2
23

5
24

17
Algorithm
ADVANTAGES
Advantages

of

AND
the

DISADVANTAGES
proposed

systemm

Disadvantages

RESULT AND DISCUSSION

5.1
5.2

26
6
27

Result
25
Analysis
SUMMARY

6.1

Conclusion

28
6.2

Future scope
29
BIBLIOGRAPHY
APPENDIX-A

List of Abbreviations

AND

CONCLUSION

DC

- Direct Current

AC

- Alternating Current

EMF - Electro Motive Force

MR - Magneto resistive
ICP - Inverse Current Program
MFE - Magnetic Field Evaluation
SPO - Source Position Optimisation
LSA - Least Square Optimization
FEA - Finite Element Analysis

List of Symbols

Chapter 2
1 I Current flowing through the MR sensor
2 M-Magnetisation Vector
3 M1-Magnetisation vector at point 1

Chapter 3
1
2
3
4
5

Po Default Position Parameter

Ip Phase Current
Bmea- Measured Value of Magnetic Feild
Bcal Calculated Value of Magnetic Field
Ps Randomly Generated Position Parameter

List Of Figures

FIG 1.3.2 -Process Of Conductive Injection

FIG 1.3.3 -Process Of Inductive Injection
FIG 1.3.4 - Process Of Detection By Magnetic Sensing
FIG 2.1

-Magneto Resistive Effect

FIG 2.2

-Magneto Resistive Sensor

FIG 3.1

- MR Sensor Array Setup

FIG 3.2

-FLOW CHART

FIG 3.3.1 -3 PHASE 3 CORE POWER CABLE

FIG 3.3.2 -SINGLE CORE POWER CABLE
FIG 5.1 -AN EXPERIMENTAL SETUP OF THE PROPOSED
TECHNIQUE
FIG 5.2

-OUTPUT WAVEFORMS

FIG 6.1

- Prototype OF MR Module

CHAPTER 1
INTRODUCTION

Electric power transmission is the bulk movement of electrical energy from a generating site,
such as a power plant, to an electrical substation. The interconnected lines which facilitate this
movement are known as a transmission network. This is distinct from the local wiring between
high-voltage substations and customers, which is typically referred to as electric power
distribution.

1.1 Introduction
Electric Power needs to be carried over long distances from the point of generation to the point
of consumption. This Transmission is done either through overhead lines or underground
cables. Each of these two methods of transmission has its own advantages and disadvantages.
conductor

Overhead Transmission lines are cheaper as the insulation cost is lesser and the
material cost is lesser too. They also have better heat dissipation.

However, they have significant disadvantages. Overhead lines are vulnerable to

lightning strikes which can cause interruption. Overhead lines use bare conductors and can
cause damage if they break. They are considered to be unsightly as they mar the scenery of the
landscape. The maintenance cost of overhead lines is more and the voltage drop in overhead
lines is more.
Electric power can also be transmitted by underground power cables instead of
overhead power lines. Underground cables take up less right-of-way than overhead lines, have
lower visibility, and are less affected by bad weather. However, costs of insulated cable and
excavation are much higher than overhead construction. Faults in buried transmission lines take
longer to locate and repair. Underground lines are strictly limited by their thermal capacity,
which permits less overload or re-rating than overhead lines. Long underground AC cables have
significant capacitance, which may reduce their ability to provide useful power to loads beyond
50 mi (80 km). Long underground DC cables have no such issue and can run for thousands of
miles.

1.2 Advantages Of Underground Power Cables

Less subject to damage from severe weather conditions (mainly lightning, wind and
freezing)

Reduced range of electromagnetic fields (EMF) emission, into the surrounding area.
However depending on the depth of the underground cable, greater emf may be
experienced. The electric current in the cable conductor produces a magnetic field,
but the closer grouping of underground power cables reduces the resultant external
magnetic field and further magnetic shielding may be provided.

Underground cables need a narrower surrounding strip of about 110 meters to

install (up to 30 m for 400 kV cables during construction), whereas an overhead line
requires a surrounding strip of about 20200 meters wide to be kept permanently
clear for safety, maintenance and repair.

Underground cables pose no hazard to low flying aircraft or to wildlife.

Much less subject to conductor theft, illegal connections, sabotage, and damage from
armed conflict.

Burying utility lines makes room for more large trees on sidewalks, which convey
environmental benefits and increase property values

1.3 Conventional methods of power cable detection

In metropolitan areas, most power cables are buried underground .Therefore, underground
power cables must be detected before any excavation works to check if there are any buried
power cables underground.
When first introduced approximately 40 years ago, underground locators needed to do little more
than find buried water, gas, or sewer lines. Today, locating has become more complex as
telecommunications cables join utility lines in the underground environment. Surprisingly,
though, today`s underground cable locators rely on the same basic technology found in their
early counterparts--injecting an electrical signal onto the cable being located.

1.3.1 The main detection methods used are listed below :

a) Signal injection and detection
i.
ii.

Conductive injection
Inductive injection

b) Magnetic sensing
1.3.2 Conductive injection

The conductive method employs the technique of transferring the transmitter signal to
the power cable by direct contact. The transmitter is connected to the powercable at the
nearest exposed site .

FIG 1.3.2 Process Of Conductive Injection

There are several possibilities for directly connecting the Transmitter to apply signal,
including applying signal to the transformer, meter, and cable to be located.
The one end of power cable is grounded so that the signal will return to the black
terminal of the transmitter, hence completing the circuit.
h

The receiver will then be used to detect these signals being transmitted through the cable
and hence can trace the exact location of the cable through the ground.

1.3.3 Inductive Injection

The inductive signal injection method is an advanced form of injection method which
unlike the conductive injection method, it does not need a direct contact with the power
cable inorder to inject the transmitter signal.The signal gets induced to the cable by
electromagnetic induction.

Use the Inductive Clamp method to put tracing signal only on the neutral of primary
energized cables and never on the primary cable itself. The neutral and its grounds form
a circuit path for the signal to follow. When signal is applied with the Inductive Clamp to
the neutral anywhere between grounds, signal will be on the section between the grounds.

The
FIG 1.3.3 Process Of Inductive Injection
receiver
will
then be
used
to detect
these
signals
being
transmitted through the cable
h
and hence can trace
the exact location of the cable through the ground

1.3.4 Magnetic Sensing

Use a passive array of magnetic sensors together with advanced signal processing techniques
to detect underground electricity cables. The location and depth of
the subsurface pipe or cable is located by the angle of magnetic force concentrically
generated by the metal pipe and the strength of the magnetic field.

The support frame with its search coils are placed at a number of position above the search
a area, and its position is recorded.The voltages induced in the coils are measured, and Fourier
a analysis is used to extract the 50 Hz and harmonic signal components

FIG 1.3.4 Process Of Detection By Magnetic Sensing

FIG 1.3.4

Process Of Detection by magnetic sensing

1.4

Limitations of conventional methods

The signal injection method uses a transmitter and a receiver which make it more difficult
to carry and it takes a lot of time to setup or initialize the process.

These devices only detect spatial parameters of the underground cables.

They cannot provide any electrical information in most cases.

In addition, it heavily relies on the expertise, experience, and judgment of the operator to
properly locate the underground cables.

These tools are in principle just a magnetometer and they do not provide much analysis
about the measured data.

These devices are very expensive

CHAPTER 2
MAGNETO-RESISTIVE SENSORS

2.1 Basic Principle

The magnetoresistive sensors are based on the magnetoresistive effect. The magnetoresistive
effect is the change of the resistivity of a current carrying ferromagnetic material due to a
magnetic field. MR sensor can be called as magnetically controllable resistors.
The below figure shows the Magnetoresistive effect.

FIG 2.1 Magneto Resistive Effect

When the current is passed through the ferromagnetic material the internal magnetisation
vector(M) of the ferromagnetic material is parallel to the current flow. When an external
magnetic field is applied in applied opposite to the direction of the current flow as shown in the
figure the internal magnetisation vector changes its position(M1) by an angle depending on the
strength of the magnetic field. The resistance depends on the angle formed by the internal
magnetisation vector(M) of the ferromagnetic material and the direction of the current(I) flow.
Resistance is largest if the current flow and the internal magnetisation vector are parallel. The
resistance in ferromagnetic material is smallest if the angle is 90 between the current flow and
the internal magnetisation vector.

2.2 Construction

FIG 2.2 Magneto Resistive Sensor

Normally 4 sensors are connected in a Wheatstone bridge configuration to form a complete

MR sensor with each resistor arranged to maximize sensitivity and minimize temperature
influences. In the presence of a magnetic field, the values of the resistors change, causing a
bridge imbalance and generating an output voltage proportional to the magnetic field
strength. The Wheatstone bridge configuration provides reduction of temperature drift and
doubles the signal output

2.3 Applications Of Magneto Resistive Sensors

Wheel speed sensors

Angle measurement

Linear displacement measurement

Current measurement

Earth magnetic field detection for compass and navigation applications

Metal detection

Magnetic field measurement

CHAPTER 3
PROPOSED METHOD
To overcome the limitations of the conventional methods of detection,
a novel technique based on magnetic field sensing is proposed for underground power cable
detection and inspection.In this technique, the current sources of the underground power cables
are reconstructed based on a set of measured magnetic field values at the ground surface level
emanated by the electric currents carried by the underground power cables. The stochastic
optimization technique developed with an artificial immune system algorithm is applied to
realize the reconstruction.

3.1 Advanced Magnetic Sensing Using MR Sensors

Nowadays, cable avoidance tools [7] are used to detect the underground power cables. This kind
of device works in different modes. In passive mode (50/60 Hz), it provides the approximate
horizontal location of the target cable. In active mode, it measures the depth of an underground
cable with the aid of a signal generator that typically injects 33 kHz signal into the cable.
However, these tools can only detect spatial parameters of the underground cables. They cannot
provide any electrical information in most cases. In addition, it heavily relies on the expertise,
experience, and judgment of the operator to properly locate the underground cables. These
tools are in principle just a magnetometer and they do not provide much analysis about the
measured data. A certified personnel is typically needed (it is required by law in many
countries) to use this kind of tool to carry out underground cable detection.

FIG 3.1 MR Sensor Array Setup

These cable avoidance tools are expensive particularly, the signal generators needed in active
mode are costly. Therefore, it is of great application value to develop a novel detection and
inspection technology for undergroundpower cables [8].According to BiotSavart Law, a
conductor carrying electric current generates magnetic field. The source current and the
spatial location of the cable determine the distribution of the emanated magnetic field. Generally,
a buried 11-kV 540 A underground power cable emanates magnetic field in the order
of microTesla at the ground level. When the phase current varies, the ground-level magnetic field
changes in magnitude and distribution correspondingly.
Currently, commercially available magnetoresistive (MR) magnetic sensors can provide
sensitivity down to around 109 T and spatial resolution of 0.9 mm [9]. Thus, the MR sensors
installed on the ground level can accurately measure the emanated magnetic field distribution
from the buried power cables. When a group of magnetic field values are measured, it is possible
to reconstruct the spatial and electrical information of the underground power cables by solving
inverse problem [10]. Previously, we developed a technique for monitoring operate state and
identify energization status for underground power cables based on magnetic field sensing [11].
However, it has the limitation that the sensor array must be mounted around the cable surface
which requires the cable to be dug out and exposed.
To compensate for these limitations ,we developed a novel underground powercable detection
and inspection technology based on magnetic field sensing at ground surface level without the
need of excavating the cable. It operates in passive mode with no need for any signal injection
and it can perform multicable detection. Using this technology, the horizontal locations and the
vertical depths of the underground cables can both be remotely and accurately measured
requiring no prior knowledge about the exact locations of the cables. In addition, it can inspect
the operation states of underground power cables.

and provide more detailed information than the existing cable avoidance tools. Besides spatial
parameters, it can provide detailed electrical parameters of the underground power lines,
which are important for analyzing the power systems. For examples, when phase current
imbalances are detected, the operator can diagnose the system operating in an unstable
state. This technology can also provide the information of system frequency, which is the only
parameter that can indicate the balance of the power system and reflect if supplydemand
mismatch occurs.

3.2 Algorithm

FIG 3.2 FLOW CHART

Stochastic optimization technique is used to solve the inverse problem and reconstruct the
horizontal locations, the vertical depths, and the electrical parameters of the target cable
conductors from the magnetic field measured remotely at the ground surface level [10]. Two
nested algorithms including least square approximation (LSA) and artificial immune system
(AIS) are used in the optimization process [12], [13].

The whole process is described in the flowchart(Fig. 3.2). It starts with the default position
parameters P0 of the underground cable conductors. Phase current Ip in each conductor is
calculated by inverse current program (ICP) based on the LSA algorithm, with position
parameters and measured magnetic field Bmea as variables by

Ip = (AT A)

Bmea

- (1)

where A is the coefficient matrix which depends on the cable

conductor positions. Then, the magnetic field Bcal is calculated
using Ip and A in magnetic field evaluation (MFE) module
based on finite element analysis (FEA) as [14], [15]

Bcal = AIp.

- (2)

There is a predetermined minimum threshold value of the Euclidean distance ||Bcal Bmea|| as
the end condition for terminating the optimization. If the end condition is not satisfied, the
algorithm randomly generates a group of new position parameters Ps using AIS algorithm in
source position optimization module. With the Bmea and the new Ps, the Ip is computed again in
the ICP module.
The new Ps and Ip are then used to simulate new Bcal in the MFE. When the Euclidean distance
between the calculated Bcal and Bmea is smaller than the minimum threshold value, the
optimization process is finished, and then the resulting Ps, and Ip are saved as the optimum
current source parameters; otherwise, the iteration continues to loop. This optimization process is
repeated multiple times (N) to obtain the final Ps which are the ensemble averages of these N
optimum values. Accordingly, the final Ip is obtained from the final Ps and the measured
magnetic field.

3.3 Applications

Can even be used to detect high voltage carrying cables up to 132 KV.
It can be used to sketch the cable layout patterns in the region .
It may be used to find faults in cables.
May help excavation workers to avoid high power lines
Can detect power cables that lie in any kind of layouts. FIG 3.3 & FIG 3.4

COMMON LAYOUT PATTERNS OF UNDERGROUND CABLES

FIG 3.3.1 3 PHASE 3 CORE POWER CABLE

FIG 3.3.2 SINGLE CORE POWER CABLE

CHAPTER 4
ADVANTAGES AND DISADVANTAGES

4.1 ADVANTAGES

High reliability due to its rugged construction.

Reasonable cost and small size.

Can detect not only the spatial parameters, but also the electrical parameters of the
cable.

Placement of the magnetic sensor array is flexible.

Can detect multiple cables simultaneously.

can even be used to detect high voltage carrying cables up to 132 KV.

4.2

DISADVANTAGES

Sensitive to interfering magnetic fields. Very strong magnetic field can damage the
sensor

Limited linear range

CHAPTER 5

RESULT AND DISCUSSION

5.1 Experimental setup

The figure shows the practical application of the detection technique using 3
phase power transmission through conductors A,B and C respectively.The
array of magnetis sensors were placed above the conductors and magnetic
fields were measured.

FIG 5.1 AN EXPERIMENTAL SETUP OF THE PROPOSED TECHNIQUE

5.2 Result

The measured magnetic field values are very close to the values calculated analytically

Based on the measured magnetic field, the current source reconstruction was carried out
to find out the spatial and electrical parameters of these three-phase power lines

The output waveforms are shown as in FIG 5.1

FIG 5.2 OUTPUT WAVEFORMS

5.3 Analysis

The sensor array consists of several MR three-axis sensors(Honeywell HMC2003)

Aligned horizontally over the wires with ac voltages with frequency of 50 hz.
It is worth noting that the placement of the magnetic sensor array is flexible and it does not need
to be exactly above the cables to be detected as demonstrated by these two application examples.
A horizontal offset of over a meter between the center of the sensor array and the cables can be
tolerated, and accurate reconstructed results can still be obtained. It is highly advantageous to the
practical application of this technique on site because in reality only rough locations of the power
cables are provided by the underground cable route maps from the power companies.

CHAPTER 6
SUMMARY AND CONCLUSION
6.1 SUMMARY
In this paper, we developed a novel underground power cable detection and inspection
technology based on magnetic field sensing and current source reconstruction. When a group of
magnetic field values are measured by a magnetic sensor array at ground surface level, current
source reconstruction can be applied to solve the inverse problem and obtain the spatial and
electrical parameters of the cables including horizontal location, vertical depth, and current
information requiring no prior knowledge of the exact cable locations. Since the complete
process is only based on the remote magnetic field sensing and current source reconstruction, it
is a passive detection and inspection method with no need of any signal injection.
In addition, it is able to detect multiple targets simultaneously. The
principle of this technology was proved experimentally with our laboratory setup. We
successfully applied and demonstrated it in the simulation models of 11-kV trefoil-formation and
132-kV flat-formation underground power cables. Thus, it is universally applicable for various
laying conditions and configurations of underground power cables. This technology is feasible
for detecting the positions and inspecting the operation states of underground power cables. It
can help locating underground power cables before excavation works. It can be potentially used
to develop a portable locator for providing a map of the underground electrical cables by
simultaneous detection of multiple power lines. In addition, engineers can apply this technology
to inspect the operation states of the underground power cables remotely without digging up the
cables.

6.2 Future Scope

FIG 6.1 Prototype OF MR Module

This technology may be integrated with a fault detection system and also a movable setup is
being developed to provide portable detection across wide range of area.
Soon, this technology may be implemented on every construction work that involves trenching to
check for under lying cables and hence avoiding it.

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