Underground pipeline trajectory detection system and method based on inertia measurement

Abstract

The invention discloses an underground pipeline trajectory detection system based on inertia measurement. The system is composed of two sub systems. A data acquisition system is loaded in a mechanicalbody to form a pipeline surveying instrument which comprises an MEMS-IMU, a speedometer, a built-in lithium battery and a data acquisition plate. The MEMS-IMU is used for providing a real-time gesture information of the surveying instrument, the speedometer is used for providing real-time journey information of the surveying instrument, the data acquisition plate receives sensor data and stores the data in an SD card, and after measurement, the stored data is uploaded to an upper computer through a USB interface. An upper computer data processing system obtains a real-time gesture angle through inertial navigation calculation and information infusion, carries out dead reckoning by combining the journey information to obtain a walking trajectory of the surveying instrument in the pipeline,and corrects the trajectory by means of the inlet / outlet position of the pipeline to obtain a tested pipeline trajectory. The measuring method is of autonomy, is not affected by external environmentand buried depth of pipelines, and by using non-excavation means, the system does not need ground operations, so that the system is economic, efficient and environment-friendly.

Description

technical field [0001] The invention belongs to the field of track detection of underground pipelines, and in particular relates to a track detection system and method for underground pipelines based on inertial measurement. Background technique [0002] Underground pipelines are one of the most important infrastructures in cities. Since the reform and opening up, the national economy has grown rapidly and urban construction is in full swing. However, the construction of underground pipeline facilities has not been given enough attention. The planning of pipelines is not strong. The performance is poor, the pipelines are criss-crossed, and they are fragmented. Urban expansion and infrastructure construction are increasingly complex and dense, bringing a series of potential problems. Any problem with underground pipelines such as water, electricity, and communication will threaten the public safety of the city. The construction and improvement of underground pipeline geograp...

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Problems solved by technology

[0003] In engineering, ground penetrating radar and electromagnetic pipeline locator are usually used to measure underground pipelines. These detection methods have the following shortcomings: first, the detection accuracy is affected by the buried depth, and the greater the buried depth, the lower the accuracy; second, the detection accuracy is easy Interferenced by the electromagnetic field environment, the detection accuracy is poor when there is a strong magnetic field or a violently changing magnetic field near the detection site; third, relying on manual work on the ground above the measured pipeline, it cannot be detected when there are obstacles such as rivers and buildings above the measured pipeline

[0004] Due to its autonomy and high precision, the trajectory detection scheme of underground pipelines based on inertial measurement has been studied at home and abroad, and mature products have appeared. Expensive, limited application

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