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High-precision surveying and mapping method based on inertial system

An inertial system, high-precision technology, applied in surveying and navigation, navigation through speed/acceleration measurement, distance measurement, etc., can solve the problem that GPS or Beidou cannot perform surveying and mapping accuracy

Active Publication Date: 2019-07-05
TIANJIN NAVIGATION INSTR RES INST
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Problems solved by technology

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art, provide a high-precision surveying and mapping method based on an inertial system, and solve the problems that existing GPS or Beidou cannot perform surveying and mapping and low precision when the signal is invisible

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  • High-precision surveying and mapping method based on inertial system
  • High-precision surveying and mapping method based on inertial system
  • High-precision surveying and mapping method based on inertial system

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[0157] The present invention will be further described in detail below through the specific examples, the following examples are only descriptive, not restrictive, and cannot limit the protection scope of the present invention with this.

[0158] Taking the implementation of the oil pipeline surveying and mapping process as an example, the surveying and mapping system mainly includes an inertial navigation system composed of three fiber optic gyroscopes and three accelerometers and an odometer speed measuring device. The odometer is used in the pipeline to measure the mileage increment of the system moving in the pipeline At the same time, a reference point is selected at intervals of 1km to 2km outside the pipeline, and the precise position information of the point is measured by high-precision GPS as the calibration location point. When passing the reference position point, it will record data synchronously with the inertial navigation system, and store the output data of the...

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Abstract

The invention relates to a high-precision surveying and mapping method based on an inertial system. The high-precision surveying and mapping method comprises the steps of: forming a strapdown inertialnavigation system by means of a three-axis gyroscope and a three-axis accelerometer, and carrying out inertial navigation calculation; using a position increment output by an odometer to perform deadreckoning, and output attitude heading, speed and position information; establishing a mathematical model for inertial navigation strapdown solution and odometer dead reckoning errors, and adopting aKalman filtering method for estimating and measuring odometer and inertial navigation errors; and using position information of magnetic mark points outside a pipeline for measuring specified equidistant points in advance to perform data correction, and adopting an RTS filtering method for backtracking filtering, such that each sampling point is the optimal smooth point of Kalman filtering. The high-precision surveying and mapping method utilizes the inertial device and odometer data acquired by post-processing, combines with the external precise magnetic mark point signals, gives the position information of the specific measuring point and the position trajectory of a path of the whole measured pipeline through combining a navigation algorithm, and satisfies the high-precision surveyingand mapping requirements in fields of petroleum pipelines, tunnels, railways and the like.

Description

technical field [0001] The invention belongs to the technical field of post-processing of surveying and mapping technology, and relates to the precise surveying and mapping technology of petroleum inertial navigation, tunnel and other environments by using inertial components, especially a high-precision surveying and mapping method based on an inertial system. Background technique [0002] In the use environment of oil pipelines, tunnels, railways, etc., based on safety reasons, for example, oil pipelines need to regularly inspect the integrity of the pipeline, locate possible safety hazards, or need to measure the deformation of road tunnels and rails along the entire path. At present, Beidou or GPS cannot meet centimeter-level positioning accuracy due to accuracy and visibility problems. Contents of the invention [0003] The purpose of the present invention is to overcome the deficiencies of the prior art, provide a high-precision surveying and mapping method based on ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/18G01C21/16G01C22/00
CPCG01C21/18G01C21/165G01C21/005G01C22/00
Inventor 侯斌屈建龙赵云旭王得山
Owner TIANJIN NAVIGATION INSTR RES INST
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