A high-precision mapping method based on inertial system

Abstract

The invention relates to a high-precision surveying and mapping method based on an inertial system. A strapdown inertial navigation system is composed of a three-axis gyroscope and a three-axis accelerometer to perform inertial navigation calculation; the position increment output by the odometer is used for dead reckoning, Output attitude, heading, speed and position information; establish a mathematical model of inertial navigation strapdown solution and odometer dead reckoning error, use Kalman filtering method to estimate and measure odometry and inertial navigation errors; use pre-measurement outside the pipeline to specify The position information of the equidistant magnetic punctuation points is used for data correction, and the RTS filtering technology is used for backtracking filtering, so that each sampling point is the optimal smoothing point of the Kalman filter. The present invention utilizes the inertial device and odometer data collected by post-processing, combined with the external precise magnetic punctuation signal, and provides the position information of a specific measurement point and the position trajectory of the path of the entire pipeline under test by combining the navigation algorithm, so as to meet the requirements of the oil pipeline. , tunnels, railways and other fields of high-precision surveying and mapping requirements.

Description

technical field [0001] The invention belongs to the technical field of post-processing of surveying and mapping technology, and relates to a precise surveying and mapping technology for using inertial elements to carry out positions of petroleum inertial navigation, tunnels and other environments, in particular to 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., for safety reasons, for example, oil pipelines need to be regularly inspected for pipeline integrity, and possible safety hazards need to be located, or the deformation of road tunnels and rails needs to be measured along the entire path. At the same time, Beidou or GPS cannot meet centimeter-level positioning accuracy due to the problems of accuracy and visibility. SUMMARY OF THE INVENTION [0003] The purpose of the present invention is to overcome the deficiencies of the prior art, provide a ...

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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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