An underground pipeline detection method based on the combination of mems and odometer

Abstract

The invention discloses an underground pipeline detection method based on the combination of MEMS and odometer. First, use the accelerometer information for analytical coarse alignment, use the starting and ending coordinates to approximate the initial heading, and construct the attitude matrix; then, after unifying the coordinate system, use the angular velocity information to calculate the attitude to obtain the attitude information of the device's location, and use the attitude The speed calculated by the odometer is decomposed to obtain the speed in the direction of the northeast sky, and the displacement information relative to the starting point is obtained through the integral operation, so as to obtain the trajectory of the preliminary solution; The trajectory is rotated and corrected; finally, the average fitting is performed on the forward and reverse trajectories obtained from the solution to obtain the final trajectory.

Description

technical field [0001] The invention relates to the field of underground pipeline detection, in particular to an intrusive non-excavation pipeline detection method based on the combination of MEMS and odometer. Background technique [0002] With the advancement of science and technology and the acceleration of urbanization, cities have an increasing demand for underground pipelines. Due to the wide distribution of underground pipe network, various types, and strong concealment, the construction and development of urban municipal underground pipe facilities have become increasingly prominent, and have gradually become one of the bottlenecks restricting my country's urban construction and economic development. The study of underground pipeline detection technology is helpful to solve the problem of missing or negligent information on laid pipelines, reduce construction accidents and casualties during construction, realize detailed three-dimensional geographic information manag...

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Problems solved by technology

The magnetic detection method has a large detection depth, but it is only suitable for metal iron pipes with strong magnetism and is easily disturbed by the magnetic environment. It is greatly affected by factors such as the magnetization inclination angle and the detection theory is not perfect.

The ground penetrating radar method can be used to detect non-metallic pipelines. It has the advantages of non-destructive, continuous detection, high precision, many sample points, and high efficiency. However, its operation is more complicated, it has high requirements on soil conditions, and the equipment is huge and expensive.

The seismic wave method has the advantages of large detection depth and is not easily disturbed by electromagnetic waves. However, this method is greatly affected by the environment and medium, and requires high theoretical foundation and practical experience for operators.

The high-density resistivity method has good anti-interference and large detection depth, but it is limited by the environment and the post-image inversion cannot eliminate the far-electrode effect

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