Spherical detector (SD) is promising in the field of subsea pipeline defect detection because of low risk of blockage and quasi-real-time capacity. However, rolling stability has great influence on the detection performance of the SD. This paper proposes posture stabilization measures for enhancing performances of the SD in pipeline spanning inspections via analyzing the mathematical model of detection and experimental validations. Mass of the SD should be concentrated on a plane as much as possible, so that the SD can steadily roll around the unique normal axis with strong immunity to sudden disturbance and uncertainty of launch postures. Especially, when the rotation axis of the SD is one sensitive axis of the triaxial accelerometer equipped, the other two acceleration components can both achieve highest signal to noise ratio and are thus capable of sensitively and reliably detecting low-frequency vibration and downward bend of a spanning steel pipeline.

球形探测器（SD）由于其低阻塞风险和准实时能力而在海底管道缺陷检测领域很有前途。但是，滚动稳定性对SD的检测性能有很大影响。通过分析检测的数学模型和实验验证，本文提出了用于提高管道跨度检查中SD性能的姿态稳定措施。SD的质量应尽可能集中在一个平面上，以使SD可以稳定地围绕唯一的法线轴滚动，对突然干扰和发射姿势的不确定性具有较强的抵抗力。特别是当SD的旋转轴是配备的三轴加速度计的一个敏感轴时，