A method for accurate three-dimensional coordinate data acquisition for underground trenchless traction pipe

Abstract

The present invention discloses a method for collecting accurate three-dimensional coordinate data for underground trenchless traction pipes, comprising the following steps: Step 1, using an inertial gyroscope to locate the pipeline: placing an in-pipe measurement unit carrying a heading and attitude sensor into a channel and moving it along the channel, measuring the heading and pitch angle of each position in the channel, combining the heading, attitude information with the mileage information to deduce the three-dimensional coordinates of the channel. The present invention has a good detection effect for non-metallic pipelines such as trenchless traction pipes that are buried deep and have constantly changing paths and depths, and can provide data support for cross construction, etc. For underground pipelines such as trenchless traction pipes that are buried deep, the three-dimensional coordinates of the pipelines can be collected accurately and quickly, and the accuracy meets the requirements of cross construction.

Description

Technical Field

[0001] The invention relates to the technical field of underground pipeline surveying and mapping, and in particular to a method for collecting accurate three-dimensional coordinate data of an underground trenchless traction pipe. Background Art

[0002] For hidden underground pipelines, existing detection methods are mainly divided into direct measurement method, electromagnetic induction method, seismograph method, etc.

[0003] Due to the complex underground pipeline environment, the above methods have poor anti-interference capabilities and low effective detection depth. They are not effective in detecting non-metallic pipelines such as trenchless traction pipes that are deeply buried and whose paths and depths are constantly changing, and cannot provide data support for cross-construction. Summary of the invention

[0004] Based on the technical problems existing in the background technology, the present invention proposes a method for collecting accurate three-dimensional coordinate data of an underground trenchless traction pipe.

[0005] The method for collecting accurate three-dimensional coordinate data of an underground trenchless traction pipe proposed by the present invention comprises the following steps:

[0006] Step 1: Use inertial gyroscope to locate pipeline: put the in-pipe measurement unit carrying heading and attitude sensors into the channel and move it along the channel to measure the heading and pitch angle of each position in the channel, and combine the heading, attitude information with mileage information to calculate the three-dimensional coordinates of the channel.

[0007] Step 2: The gyroscope and accelerometer in the measurement unit measure the components of the three rotational angular velocities and three linear accelerations in the inertial space along the coordinate system of the locator respectively. After coordinate conversion, the acceleration information is converted into acceleration along the navigation coordinate system, and the position, velocity, heading, and horizontal attitude of the locator are calculated.

[0008] Among them, the commonly used coordinate systems are: inertial coordinate system, earth coordinate system, geographic coordinate system, carrier coordinate system, gyro coordinate system and motion reference coordinate system.

[0009] Step 3: Control measurement; specifically includes the following steps:

[0010] S1: For underground pipeline measurement, the existing hierarchical control points should be fully utilized. If the control points cannot meet the underground pipeline measurement requirements, the hierarchical control points should be increased or the topological control points should be arranged;

[0011] S2: Existing control points must be checked before use. Control points with more than two lines of sight should be checked for fixed angle and side length, and other control points should be checked for side length.

[0012] S3: Photoelectric distance measurement and root line measurement;

[0013] S4: GPS technology is used to arrange control points, and their plane coordinates can be measured by static and dynamic methods.

[0014] Step 4: Use inertial gyroscope for precise detection;

[0015] Step 5: Collect data; specifically include the following steps:

[0016] K1. Collect the three-dimensional coordinate data of the starting and ending points of the pipe holes to be measured: Use a total station or GPS-RTK to accurately measure the three-dimensional coordinates of the starting and ending points of the pipeline to be measured, which are used as the starting calibration data for the inertial gyroscope positioning measurement to calculate and verify the three-dimensional coordinates of the pipeline.

[0017] K2. Clean the channel of the pipe hole to be tested: The inertial gyroscope has high requirements for the internal environment of the detection pipeline. There must be no debris, etc. to avoid data distortion and damage to the instrument. Use pipeline dredging equipment to collect pipeline data on the pipe hole to be tested to ensure that the inside of the pipe hole to be tested is clean.

[0018] K3. Use inertial gyroscope for positioning measurement: Place the measuring unit directly in the pipeline, use centering technology to make the measuring position the center axis of the pipeline, set parameters, drag the inertial positioning gyroscope measurement host from the pipeline inlet to the outlet, and the calculation host automatically records and calculates its movement trajectory. Each measured pipe hole is measured at least 3 times back and forth, a total of 6 times, to ensure data accuracy.

[0019] K4. Preliminary data processing and quality judgment: On-site data processing, evaluation of data quality and accuracy, determination of whether re-measurement is required, and preliminary confirmation of data correctness before saving the data and preparing for detection of the next channel.

[0020] Preferably, the photoelectric distance measurement of the root wire in step 3 comprises the following steps:

[0021] a: Photoelectric distance measurement line should be laid out as attached line and line network;

[0022] b: If the topographical conductor cannot be attached due to terrain conditions, a topographical branch conductor can be laid, but the number of consecutive branches of the branch conductor shall not exceed 4, and the total length shall not exceed 450m. The branch conductor distance measurement can be observed for five minutes in a single trip; the first station for horizontal angle observation should jointly measure two known directions, and the horizontal angles of other stations can be observed for five minutes.

[0023] 1. It has good detection effect for non-metallic pipelines such as trenchless traction pipes that are buried deep and have constantly changing paths and depths. It can provide data support for cross construction, etc. As long as there are empty pipes, both metal pipelines and non-metallic pipelines can be mapped, and are not affected by pipeline length, depth, and other underground pipelines;

[0024] 2. For underground pipelines with large burial depths such as trenchless traction pipes, the three-dimensional coordinates of the pipelines can be collected accurately and economically, with the accuracy meeting the requirements of cross-construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A working principle diagram of using an inertial gyroscope to locate pipelines in a method for collecting accurate three-dimensional coordinate data of underground trenchless traction pipes proposed by the present invention;

[0026] Figure 2 The present invention provides a flowchart for implementing the method for collecting accurate three-dimensional coordinate data of underground trenchless traction pipes using an inertial gyroscope for precise detection. DETAILED DESCRIPTION

[0027] The present invention will be further explained below in conjunction with specific embodiments.

[0028] Example

[0029] The method for collecting accurate three-dimensional coordinate data of an underground trenchless traction pipe comprises the following steps:

[0030] Step 1: Use inertial gyroscope to locate pipeline: put the in-pipe measurement unit with heading and attitude sensors into the channel and move it along the channel to measure the heading and pitch angle of each position in the channel. Combine the heading, attitude information and mileage information to calculate the three-dimensional coordinates of the channel. The specific working principle is as follows: Figure 1 shown.

[0031] Step 2: The gyroscope and accelerometer in the measurement unit measure the components of the three rotational angular velocities and three linear accelerations in the inertial space along the coordinate system of the locator, and after coordinate conversion, the acceleration information is converted into acceleration along the navigation coordinate system. And calculate the position, speed, heading, and horizontal attitude of the locator; among them, the commonly used coordinate systems are mainly: inertial coordinate system, earth coordinate system, geographic coordinate system, carrier coordinate system, gyro coordinate system and motion reference coordinate system.

[0032] Step 3: Control measurement: including the following steps:

[0033] S1: For underground pipeline measurement, full use should be made of the existing grade control points. If the control points cannot meet the underground pipeline measurement requirements, the grade control points should be increased or the topological control points should be arranged. The grade control points shall be implemented in accordance with the "Control Measurement Specifications".

[0034] S2: Existing control points must be checked before use. Control points with more than two lines of sight should be checked for fixed angle and side length, and other control points should be checked for side length.

[0035] S3: Photoelectric distance measurement: including the following steps:

[0036] a: The photoelectric ranging line should be laid out as attached lines and line networks, and its technical requirements shall be implemented in accordance with the table "Technical requirements for the measurement of photoelectric ranging lines for basic maps".

[0037] b: If the topographical conductor cannot be attached due to terrain conditions, a topographical branch conductor can be laid, but the number of consecutive branch conductor support points shall not exceed 4, and the total length shall not exceed 450m. The branch conductor distance measurement can be observed for five minutes in a single trip; the first station for horizontal angle observation should jointly measure two known directions, and the horizontal angles of other stations can be observed for five minutes.

[0038] S4: GPS technology is used to lay out control points, and their plane coordinates can be measured using static and dynamic methods. The operation method and data processing of static measurement shall be carried out in accordance with the requirements of the "Technical Specifications for Satellite Positioning Urban Measurement", and dynamic RTK measurement shall comply with the following regulations:

[0039] a. The location of the base station should be selected at a high place;

[0040] b. Before testing, the antenna height should be measured, the reading should be in mm, and records should be kept;

[0041] c. Accurately obtain the WGS-84 coordinates of the reference station;

[0042] d. According to the size of the survey area, more than three evenly distributed level control points should be measured continuously to solve the conversion parameters of the survey area coordinates;

[0043] e. The mobile station is measured in tripod mode and should be leveled in the center when setting up the station;

[0044] f. The radius of the mobile station should be less than 5km;

[0045] g. Operations should be carried out during a period when the satellites are in good condition and when the number of satellites is not less than 4;

[0046] h. When the mobile station is observing, the observation accuracy should be controlled within ±2cm, and each point should be observed twice independently. If the difference is less than 5cm, the average value is taken as the observation result, otherwise it should be re-measured;

[0047] i. Before measuring, a known control point should be detected and its plane coordinates should be compared to determine the reliability of the observation results.

[0048] Step 4: Use inertial gyroscope for accurate detection. The implementation process is as follows: Figure 2 As shown:

[0049] Step 5: Data Collection:

[0050] K1: Collection of three-dimensional coordinate data of the starting and ending points of the pipe holes to be measured: Use a total station or GPS-RTK to accurately measure the three-dimensional coordinates of the starting and ending points of the pipeline to be measured, which are used as the starting calibration data for the inertial gyroscope positioning measurement to calculate and calibrate the three-dimensional coordinates of the pipeline.

[0051] K2: Clean the channel of the pipe hole to be tested: The inertial gyroscope has high requirements for the internal environment of the detection pipeline. There must be no debris, etc., to avoid data distortion and damage to the instrument. Use pipeline dredging equipment to collect pipeline data on the pipe hole to be tested to ensure that the inside of the pipe hole to be tested is clean.

[0052] K3: Use inertial gyroscope for positioning measurement: Place the measuring unit directly in the pipeline, use the centering technology to make the measuring position the central axis of the pipeline, set the parameters, drag the inertial positioning gyroscope measuring host from the pipeline inlet to the outlet, and the calculation host automatically records and calculates its motion trajectory. Each measured pipe hole is measured at least 3 times back and forth, a total of 6 times, to ensure data accuracy.

[0053] K4: Preliminary data processing and quality judgment: On-site data processing, evaluation of data quality and accuracy, determination of whether re-measurement is required, and preliminary confirmation of data correctness before saving the data and preparing for the detection of the next channel.

[0054] The invention has good detection effect on non-metallic pipelines with deep burial depths and constantly changing paths and depths, such as trenchless traction pipes, and can provide data support for intersection construction, etc. For underground pipelines with large burial depths, such as trenchless traction pipes, the three-dimensional coordinates of the pipelines can be accurately collected economically and quickly, and the accuracy meets the requirements of intersection construction.

Claims

1. A method for collecting accurate three-dimensional coordinate data of an underground trenchless traction pipe, characterized in that: The steps include: Step 1: Use the inertial gyroscope to locate the pipeline: put the in-pipe measurement unit carrying the heading and attitude sensors into the channel and move it along the channel to measure the heading and pitch angle of each position in the channel, and combine the heading, attitude information with the mileage information to calculate the three-dimensional coordinates of the channel; Step 2: The gyroscope and accelerometer in the measurement unit measure the components of the three rotational angular velocities and three linear accelerations in the inertial space along the coordinate system of the locator respectively. After coordinate conversion, the acceleration information is converted into acceleration along the navigation coordinate system, and the position, velocity, heading, and horizontal attitude of the locator are calculated. Among them, the commonly used coordinate systems are: inertial coordinate system, earth coordinate system, geographic coordinate system, carrier coordinate system, gyro coordinate system and motion reference coordinate system; Step 3: Control measurement: specifically including the following steps: S1: For underground pipeline measurement, the existing hierarchical control points should be fully utilized. If the control points cannot meet the underground pipeline measurement requirements, the hierarchical control points should be increased or the topological control points should be arranged; S2: Existing control points must be checked before use. Control points with more than two lines of sight should be checked for fixed angle and side length, and other control points should be checked for side length. S3: Photoelectric distance measurement, including the following steps: a: Photoelectric distance measurement line should be laid out as attached line and line network; b: If the topographical conductor cannot be attached due to terrain conditions, a topographical branch conductor can be laid, but the branch conductor shall not have more than 4 consecutive support points and the total length shall not exceed 450m. The branch conductor distance measurement can be observed for five minutes in one way; the first station for horizontal angle observation should jointly measure two known directions, and the horizontal angles of other stations can be observed for five minutes; S4: GPS technology is used to lay out control points, and their plane coordinates can be measured using static and dynamic methods; Step 4: Use inertial gyroscope for precise detection; Step 5: Collect data; specifically include the following steps: K1. Collect the three-dimensional coordinate data of the starting and ending points of the measured pipe holes: Use a total station or GPS-RTK to accurately measure the three-dimensional coordinates of the starting and ending points of the measured pipeline, which are used as the starting calibration data for the inertial gyroscope positioning measurement, and calculate the three-dimensional coordinates of the calibration pipeline; K2. Clean the channel of the pipe hole to be tested: the inertial gyroscope has high requirements for the internal environment of the detection pipeline. There must be no debris, etc., to avoid data distortion and damage to the instrument. Use pipeline dredging equipment to collect pipeline data of the pipe hole to be tested to ensure that the inside of the pipe hole to be tested is clean; K3. Use inertial gyroscope for positioning measurement: Place the measuring unit directly in the pipeline, use the centering technology to make the measuring position the central axis of the pipeline, set the parameters, drag the inertial positioning gyroscope measuring host from the pipeline inlet to the outlet, and the calculation host automatically records and calculates its motion trajectory. Each measured pipe hole is measured at least 3 times back and forth, a total of 6 times, to ensure data accuracy; K4. Preliminary data processing and quality judgment: On-site data processing, evaluation of data quality and accuracy, determination of whether re-measurement is required, and preliminary confirmation of data correctness before saving the data and preparing for detection of the next channel.

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