A three-dimensional positioning device and positioning method for underground cables based on scanning intersection

Abstract

The invention discloses a scan intersection-based underground cable three-dimensional locating device and a locating method. The scan intersection-based underground cable three-dimensional locating device comprises two magnetic field detection modules, a GPS (Global Positioning System) positioning module, an air pressure measurement module, a biaxial dip angle measurement module, an electronic compass and a control module, wherein all the modules are arranged on a detection platform. By utilizing the scan intersection-based underground cable three-dimensional locating device disclosed by the invention, a space magnetic field around an underground cable can be firstly scanned through the magnetic field detection modules, orientation angles of the magnetic field detection modules relative to the underground cable can be obtained according to a magnetic field distribution rule, and coordinates of the underground cable relative to the detection platform can be calculated through an intersection algorithm; secondly, data of longitude and latitude coordinates, the altitude, the space attitude, an azimuth angle and the like of the detection platform can be measured through all the measurement modules, and the longitude and latitude coordinates and the relative altitude of the underground cable in a current detection point can be calculated through coordinate transformation; finally, data storage and three-dimensional display can be carried out. According to the scan intersection-based underground cable three-dimensional locating device disclosed by the invention, buried depth data of the underground cable is represented by using the relative altitude, the influence of landform variation on measurement is overcome, the measurement accuracy is high, and the measurement efficiency is high.

Description

technical field [0001] The invention relates to electromagnetic detection, in particular to an underground cable three-position positioning device based on magnetic field scanning detection and space intersection algorithm, and also relates to a method for realizing underground cable positioning by using the device. Background technique [0002] The document "Detection and Location of Underground Cables Using Magnetic Field Measurements" describes a multi-coil-based measurement model of the magnetic field distribution around the cable and a least squares fitting method. This method has a high magnetic field resolution, but the complex magnetic field or multiple The fitting results under cable conditions will have large deviations. Domestic cable detectors are usually composed of a transmitter and a receiver, where the transmitter inputs an excitation signal of a specific frequency at the access point of the cable to be detected, and excites a magnetic field around the cable ...

AI Technical Summary

Problems solved by technology

(2) The vector magnetic field detection method obtains the magnetic field vectors of any two points around the cable through a 3-axis magnetometer, constructs a plane perpendicular to the vector direction, and solves the space intersection line of the two planes as the cable positioning result; Sensitivity differences on each axis require manual adjustment of the sensor in practical applications; when the two points are taken with a small circumferential distribution angle relative to the cable, a large buried depth error will occur; in addition, the positioning result of this method is relatively In itself, the timeliness is poor, see patent CN201310406924.7

(3) Positioning of marking chips, by pre-arranging several chips with marking functions on the cable, identifying the chip information through specific equipment after construction, and at the same time obtaining relevant position information through GPS for positioning. This method is costly and not suitable for Early buried cables lacked depth information, see patents CN201220625640.8 and CN201420187928.0

[0004] To sum up, the current existing underground cable detection and positioning technology has problems such as complex structure, difficult operation, and poor adaptability. Therefore, with the advancement of sensing technology and automation technology, it is important to develop new underground cable positioning technology. significance

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