An accurate pose linkage measurement system for downhole equipment

Abstract

The present application belongs to the technical field of intelligent sensing and pose detection, and provides a precise pose linkage measurement system for underground equipment to solve the natural shielding of GNSS signals in the current underground environment. The preset starting point coordinate information is input into the upper computer, then the running state and basic navigation information of the tunneling equipment are obtained through the track walking pulse measurement device and the inertial navigation device respectively, and the movement amount of the tunneling equipment is collected through the signal transceiver device. When the tunneling equipment stops moving after completing the work, the anchor hoisting machine starts to move and follow, until reaching the preset interval distance, then the ultra-wideband cascade module measures the position change between the tunneling equipment and the preset starting point, the data solving module comprehensively calculates the dead reckoning result based on the above data, and the dead reckoning result is fed back to the upper computer, realizing the real-time detection of the precise pose of the whole tunneling equipment, and still being able to stably collect data in the harsh underground environment.

Description

Technical Field

[0001] This invention belongs to the field of intelligent sensing and pose detection technology, specifically relating to a system for achieving precise pose linkage measurement of downhole equipment. Background Technology

[0002] Currently, underground tunneling equipment is rapidly moving towards a new era of intelligent mining, with its core driving force focusing on deepening precise perception capabilities. This forms a crucial link in the solid foundation of the intelligent system. Given the natural shielding of GNSS signals by the mine environment, developing high-precision intelligent pose detection technology adapted to such enclosed and complex spaces has become key to driving the intelligent transformation of mines and expanding the boundaries of remote control and unmanned operations. This technological breakthrough aims to streamline underground manpower allocation, optimize mining operation processes, and ultimately significantly improve the economic efficiency and social value of mine operations. Summary of the Invention

[0003] In order to solve at least one of the above-mentioned technical problems in the prior art, the present invention provides a system for achieving precise position and attitude linkage measurement of downhole equipment.

[0004] This invention is achieved using the following technical solution: a precise position and attitude linkage measurement system for downhole equipment, applied to tunneling equipment and anchor transport machines, comprising:

[0005] Tracked travel pulse measurement device, used to obtain the travel status of tunneling equipment;

[0006] An inertial navigation device is used to provide navigation information for the tunneling equipment during its operation;

[0007] The ultra-wideband cascade module is used to measure the position change data of the tunneling equipment and calculate the interval distance between it and the preset starting point;

[0008] Signal transceiver device, used to realize data transmission between tunneling equipment and anchor transport machine;

[0009] The data processing module is used to integrate data from the tracked travel pulse measurement device, inertial navigation device, signal transceiver device and ultra-wideband cascade module to perform dead reckoning for the tunneling equipment and transmit the dead reckoning results to the host computer.

[0010] The host computer is used to display parameter data of the tunneling equipment in real time during the mining process. The parameter data includes at least the preset starting point coordinate information, dead reckoning results, and attitude change data.

[0011] The preset starting point coordinates are input into the host computer. Then, the tracked travel pulse measurement device and the inertial navigation device acquire the travel status and basic navigation information of the tunneling equipment during the underground mining process. At the same time, data is transmitted through the signal transceiver device, and it is determined whether the tunneling equipment has stopped moving. When the tunneling equipment stops moving after completing its work, the anchor hauler starts to move and follow until the interval change data between the tunneling equipment and the anchor hauler reaches the preset interval distance. Then, the ultra-wideband cascade module measures the position change between the tunneling equipment and the preset starting point. The data calculation module integrates the data from the tracked travel pulse measurement device, the inertial navigation device, the signal transceiver device, and the ultra-wideband cascade module to perform dead reckoning and feeds back the dead reckoning results to the host computer.

[0012] Preferably, the ultra-wideband cascading module is divided into a UWB terminal and a UWB sub-module;

[0013] The UWB submodule is installed on the belt conveyor in the underground roadway and is used to collect position change data of the tunneling equipment and anchor transport machine;

[0014] The UWB terminal is installed on the front side of the anchor transport machine. It is used to collect the data collected by the UWB submodule and transmit the collected data to the UWB sensor in the signal transceiver device, and then transmit it to the tunneling equipment through the signal transceiver device.

[0015] Preferably, the UWB sub-modules are evenly distributed on the belt conveyor at 20-meter intervals, starting from a preset starting point coordinate position, and each UWB sub-module is assigned a serial number.

[0016] Preferably, the signal transceiver includes a signal transmitting device and a signal receiving device;

[0017] The signal transmitting device is installed on the front side of the anchor transport machine and corresponds to the UWB terminal of the ultra-wideband cascade module, and is used to monitor the movement between the anchor transport machine and the tunneling equipment in real time.

[0018] The signal receiving device is installed in the middle of the rear side of the main body of the tunneling equipment and corresponds to the signal transmitting device. It is used to capture the movement between the tunneling equipment and the anchor transport machine in real time.

[0019] When the tunneling equipment is performing mining operations, it moves forward. The signal transmitter detects the movement of the tunneling equipment, at which point the anchor hauler stops. The signal transmitter continuously monitors the amount of movement between the anchor hauler and the tunneling equipment. When the tunneling equipment completes the mining operation, it stops moving. The signal transmitter detects that the tunneling equipment has stopped. At this time, the anchor hauler moves towards the tunneling equipment, and the signal transmitter continuously monitors the distance between the anchor hauler and the tunneling equipment. When the distance reaches a preset distance threshold, the anchor hauler stops.

[0020] Preferably, the signal receiving device integrates a power supply, a MIMO antenna, and a signal receiving processor;

[0021] The information transmitting device integrates lidar, UWB sensors, and IMU sensors to monitor the changes in movement and attitude between the tunneling equipment and the anchor transport machine in real time, and transmits the monitored data to the signal receiving device, which then transmits it to the data processing module via the MIMO antenna.

[0022] Preferably, there are at least two track travel pulse measuring devices, which are respectively installed on the track drive motors on both sides of the tunneling equipment.

[0023] Preferably, the inertial navigation device is installed on the upper middle part of the tunneling equipment; the inertial navigation device includes a three-axis fiber optic gyroscope and an accelerometer.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] The precision posture and linkage measurement system for underground equipment provided by this invention, based on practical applications, innovatively realizes real-time, full-load precision posture and positioning detection of tunneling equipment. With its superior anti-interference capabilities, it can stably collect data even in harsh underground environments, unaffected by temperature and humidity fluctuations and dust intrusion, while maintaining friendly compatibility with existing mining processes. In terms of operation, only initial position coordinates need to be entered by personnel at the beginning of new roadway mining or during the layout of old roadways. Subsequent mining operations achieve unattended data collection, greatly simplifying the operation process and reducing costs, effectively avoiding unnecessary waste of resources. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the structure of the precise position and attitude linkage measurement system for downhole equipment provided in an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the operating mode of the signal transceiver device provided in an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the detection mode of the ultra-wideband cascaded module provided in an embodiment of the present invention. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should fall within the scope of the technical content disclosed in the present invention. It should be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0032] Underground tunneling operations face extreme environments, characterized by dense coal dust and rock cuttings, high humidity, and significant temperature fluctuations. These factors collectively pose a severe challenge to navigation and sensing technologies. Even with advanced dust removal technologies, it is difficult to completely and in real-time resolve the issue of high-density dust, which presents a significant challenge to navigation solutions relying on visual and photoelectric sensors. Dust obscuring not only interferes with effective data acquisition but also leads to information loss, thereby affecting the smoothness and accuracy of tunneling operations and increasing safety hazards.

[0033] While pure inertial navigation systems do not rely on external signals and can operate independently to a certain extent, long-term operation inevitably accumulates positioning errors, making it difficult to meet the demands of long-term, high-precision operations. To address this, combined inertial navigation systems have emerged. These systems cleverly integrate data from various sensors, including tracked vehicle pulse measurement devices, optical precision instruments, and lasers, creating complementary advantages and providing tunneling equipment with more comprehensive and accurate navigation information. In single-unit tunneling or roadheader / anchor machine (BAM) and transport systems working in coordination, this system demonstrates strong adaptability and flexibility, essentially meeting market demands.

[0034] However, integrated inertial navigation systems also face many challenges. Tracked pulse measurement devices are prone to slippage in wet or soft ground, leading to measurement errors; while optical precision instruments can provide high-precision positioning information, their compensation capabilities are limited and may not be able to completely eliminate errors introduced by other sensors; in addition, the high system cost and maintenance expenses also limit their application in large-scale deployment.

[0035] Therefore, developing a novel posture detection system that integrates high cost-effectiveness, adapts to multiple working conditions, and achieves full airborne automation has become an important direction for current mining technology innovation. This system needs to be capable of stably acquiring data in harsh environments such as dusty conditions, high humidity, and large temperature variations. Simultaneously, it needs to optimize the system architecture design, achieve fully integrated airborne installation, reduce manual operation requirements, and lower maintenance costs. To solve the above problems, this invention provides a system for achieving precise posture linkage measurement of underground equipment.

[0036] like Figure 1 As shown in the diagram, this embodiment of the invention provides a structural schematic of a system for achieving precise position and attitude linkage measurement of downhole equipment, comprising:

[0037] Tracked travel pulse measurement device, used to obtain the travel status of tunneling equipment;

[0038] An inertial navigation device is used to provide navigation information for the tunneling equipment during its operation;

[0039] The ultra-wideband cascade module is used to measure the position change data of the tunneling equipment and calculate the interval distance between it and the preset starting point;

[0040] Signal transceiver device, used to realize data transmission between tunneling equipment and anchor transport machine;

[0041] The data processing module is used to integrate data from the tracked travel pulse measurement device, inertial navigation device, signal transceiver device and ultra-wideband cascade module to perform dead reckoning for the tunneling equipment and transmit the dead reckoning results to the host computer.

[0042] The host computer is used to display parameter data of the tunneling equipment in real time during the mining process. The parameter data includes at least the preset starting point coordinate information, dead reckoning results, and attitude change data.

[0043] The preset starting point coordinates are input into the host computer. Then, the tracked travel pulse measurement device and the inertial navigation device acquire the travel status and basic navigation information of the tunneling equipment during the underground mining process. At the same time, data is transmitted through the signal transceiver device, and it is determined whether the tunneling equipment has stopped moving. When the tunneling equipment stops moving after completing its work, the anchor hauler starts to move and follow until the interval change data between the tunneling equipment and the anchor hauler reaches the preset interval distance. Then, the ultra-wideband cascade module measures the position change between the tunneling equipment and the preset starting point. The data calculation module integrates the data from the tracked travel pulse measurement device, the inertial navigation device, the signal transceiver device, and the ultra-wideband cascade module to perform dead reckoning and feeds back the dead reckoning results to the host computer.

[0044] In this embodiment, the inertial navigation device uses a combination of a three-axis fiber optic gyroscope and an accelerometer. It detects the rotation angle and direction using a high-precision interferometry method and analyzes the spatial position by combining acceleration data to provide basic navigation information for the mining equipment.

[0045] The track travel pulse measurement device accurately captures the travel status of the tracks on both sides of the tunneling equipment and records the precise mileage of forward and backward movement in the form of pulses, enhancing the continuity of tracking changes in the position of the tunneling equipment.

[0046] The signal transceiver is divided into a signal receiving device and a signal transmitting device. The signal transmitting device is installed on the front side of the anchor transport machine and corresponds to the UWB terminal of the ultra-wideband cascade module. The signal transmitting device integrates components such as power supply, MIMO antenna, and receiver processor to ensure stable information exchange between the signal transmitting device and the data processing module, and is used to monitor the movement between the anchor transport machine and the tunneling equipment in real time.

[0047] The signal receiving device is installed in the middle of the rear side of the main unit of the tunneling equipment and corresponds to the signal transmitting device. It integrates multiple sensors such as lidar, UWB, and IMU. It is used not only to capture the movement between the tunneling equipment and the anchor transport machine in real time, but also to measure the relative position and mileage of the tunneling equipment and the anchor transport machine, and to capture the attitude changes of the tunneling equipment in real time.

[0048] Ultra-wideband cascade modules are designed to transmit absolute mileage information within underground roadways and accurately calculate the distance between the location of the tunneling equipment and the preset starting point.

[0049] The data processing module performs data fusion and processing, integrating data from the walking pulse measurement device, inertial navigation device, signal transceiver device, and ultra-wideband cascade module to complete the dead reckoning of the tunneling equipment and feed the results back to the host computer.

[0050] The host computer is the main control terminal of the underground equipment precision position and posture linkage measurement system. It not only receives the preset starting point information and navigation calibration information of the tunneling equipment in the roadway, but also serves as a user interface to display the parameter data of the tunneling equipment in real time during the mining process, and to display the mining progress, the attitude of the tunneling equipment and the status of the cutting head in real time. It provides the relevant personnel with an intuitive and comprehensive monitoring view, which helps to ensure the efficient and safe operation of the smart mine.

[0051] At the outset of the measurement process, the primary task is to accurately determine the absolute coordinates of the planned mining direction and preset starting point of the newly opened or existing roadway. This information, once entered into the host computer, serves as initial reference data. Once the planned mining direction and preset starting point are confirmed to be correct, they are entered into the host computer system designed in this embodiment of the invention. This entry only needs to be made once during the entire roadway mining cycle, ensuring that subsequently collected data closely aligns with the original planning information and shares the same coordinate system. This not only facilitates a direct comparison of the differences between actual mining and the planning but also allows for immediate adjustments to strategies and optimization of the mining path.

[0052] The inertial navigation system, tracked travel pulse measurement device, and signal transceiver were deployed at key locations on the main tunneling equipment and the anchor transport machine. Specifically, the inertial navigation system was installed on the upper center of the main tunneling equipment, along its central axis; the tracked travel pulse measurement device was installed on the track drive motors on both sides of the tunneling equipment; the signal receiving device was installed on the rear center of the main tunneling equipment, avoiding the belt conveyor section; and the signal transmitting device was installed on the front of the anchor transport machine. During the installation of the inertial navigation system, high-precision testing tools were used to ensure its installation direction was perpendicular to the main tunneling equipment body, thereby minimizing error sources and improving the accuracy of data acquisition.

[0053] The coordinated operation of the tracked travel pulse measurement device and the inertial navigation device enables comprehensive and high-precision monitoring of the spatial attitude of the tunneling equipment, improving the accuracy of attitude measurement. This facilitates the subsequent transmission of relevant data to the data processing module, where data fusion and calculation are performed using the Kalman filter algorithm.

[0054] The signal receiving device installed on the tunneling equipment and the signal transmitting device installed on the anchor transport machine work together to ensure seamless information flow. The data processing module, as the intelligent hub, is installed on the main unit of the tunneling equipment. It is used to analyze the raw data collected by the other modules, perform data processing and calculation based on the raw data, and transmit the results to the host computer to provide intuitive and detailed information display for the relevant personnel.

[0055] In this embodiment, the signal transmitting device is installed on the front side of the anchor-carrying machine's forward direction, forming a precise stacked arrangement with the signal receiving device installed at the center of the rear side of the tunneling equipment's main unit. This effectively avoids signal obstruction and ensures the stability and continuity of signal transmission. During actual operation, when one of the tunneling equipment and the anchor-carrying machine moves forward, the other remains stationary, ensuring that the signal receiving device and the information transmitting device can capture the precise pose and position changes between the two in real time.

[0056] In this embodiment, as Figure 2As shown, the tunneling equipment will gradually move forward during the mining process, while the anchor hauler is stationary. The position change data and attitude change of the tunneling equipment are acquired in real time through the ultra-wideband cascade module and information transmission device, and the collected data is transmitted to the data receiving device. When the tunneling equipment stops moving after completing a cycle of cutting, the anchor hauler needs to follow and maintain a certain interval distance to complete the static-dynamic-linkage movement of the tunneling equipment and the anchor hauler.

[0057] In this embodiment, the signal transmitting device integrates lidar, UWB and IMU sensors, and can receive data collected by the ultra-wideband cascade module and inertial navigation device. It can also perform accurate distance measurement and synchronously monitor the attitude changes of the tunneling equipment, thus realizing the comprehensive capture of the dynamic relationship between the tunneling equipment and the anchor transport machine.

[0058] In this embodiment, the UWB terminal of the ultra-wideband cascade module is installed on the front side of the anchor transport machine, horizontally positioned with the signal transmitting device and corresponding to the signal receiving device. It is used to collect the data collected by the UWB submodule and transmit the collected data to the UWB sensor in the signal transmitting device. Then, the signal transmitting device transmits the data to the signal receiving device and sends it to the data processing module via the MIMO antenna in the signal receiving device.

[0059] In this embodiment, both the UWB terminal and the UWB sensor in the signal transmitting device are in UWB application mode. The UWB terminal collects the data collected by the UWB sub-modules it passes through and then transmits it to the signal transmitting device. The UWB sensor in the signal transmitting device receives the above data and simultaneously collects the UWB information between the tunneling equipment and the anchor transport machine. Finally, all the UWB information is integrated and transmitted to the data processing module.

[0060] In this embodiment, the UWB sub-modules are installed on the belt conveyor in the underground roadway. They are evenly distributed on the belt conveyor at 20-meter intervals starting from the preset starting point coordinates, and are supplemented by a strict sequence numbering procedure to ensure unimpeded communication between adjacent sub-modules while avoiding mutual interference.

[0061] In this embodiment, as Figure 3 As shown, the UWB terminal continuously collects data from the UWB submodule and determines whether the tunneling equipment has entered a new cascade node based on the collected data. When entering a new cascade node, the data collected by the UWB submodule is calibrated, and the location information of the tunneling equipment is calculated based on the calibration results and transmitted to the data calculation module. When not entering a new cascade node, the location information of the tunneling equipment corresponding to the current cascade node is calculated and transmitted to the data settlement module.

[0062] Ultimately, all collected data converges to the host computer in the tunnel's central control center or ground dispatch room. This serves not only as a visualization window for the data but also as the point of origin for control commands. The host computer system updates and displays the status information of the tunneling equipment in real time, and sends calibration or control commands downwards as needed, ensuring the accuracy, efficiency, and controllability of the entire mining process.

[0063] In the current field of navigation for underground coal mine tunneling equipment, traditional methods such as lidar, optical precision instruments, and vision technology, while each with its own advantages, generally face the severe challenge of insufficient environmental adaptability. Harsh underground environments easily lead to intermittent data acquisition, distorted calculation results, and difficulty in accurately aligning with roadway mining plans. Furthermore, these methods largely rely on non-aircraft equipment, requiring frequent manual intervention, which not only reduces operational efficiency but also exacerbates resource waste due to high equipment costs and vulnerability to damage in high-intensity vibration environments.

[0064] In view of this, this invention, starting from practical applications, innovatively realizes real-time, precise, all-airborne position and orientation detection of tunneling equipment. With its superior anti-interference capabilities, it can stably collect data even in harsh underground environments, unaffected by temperature and humidity fluctuations and dust intrusion, while maintaining friendly compatibility with existing mining processes. In terms of operation, only initial position coordinates need to be entered by personnel at the beginning of new roadway mining or during the layout of old roadways; subsequent mining operations achieve unattended data collection, greatly simplifying the operation process.

[0065] From a cost-effectiveness perspective, the hardware modules used in this invention are all widely used and mature products, reasonably priced and with stable performance, capable of continuous and stable operation under various harsh conditions. This design not only reduces manual intervention and improves work efficiency, but also provides users with a more cost-effective solution thanks to its high precision and high reliability, effectively avoiding unnecessary waste of resources.

[0066] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A system for precise position and attitude linkage measurement of underground equipment, applied to tunneling equipment and anchor transport machines, characterized in that, include: Tracked travel pulse measurement device, used to obtain the travel status of tunneling equipment; An inertial navigation device is used to provide navigation information for the tunneling equipment during its operation; The ultra-wideband cascade module is used to measure the position change data of the tunneling equipment and calculate the interval distance between it and the preset starting point; The ultra-wideband cascading module is divided into a UWB terminal and a UWB sub-module; The UWB submodule is installed on the belt conveyor in the underground roadway and is used to collect position change data of the tunneling equipment and anchor transport machine; The UWB terminal is installed on the front side of the anchor transport machine. It is used to collect the data collected by the UWB submodule and transmit the collected data to the UWB sensor in the signal transceiver device, and then transmit it to the tunneling equipment through the signal transceiver device. Signal transceiver device, used to realize data transmission between tunneling equipment and anchor transport machine; The data processing module is used to integrate data from the tracked travel pulse measurement device, inertial navigation device, signal transceiver device and ultra-wideband cascade module to perform dead reckoning for the tunneling equipment and transmit the dead reckoning results to the host computer. The host computer is used to display parameter data of the tunneling equipment in real time during the mining process. The parameter data includes at least the preset starting point coordinate information, dead reckoning results, and attitude change data. The preset starting point coordinates are input into the host computer. Then, the tracked walking pulse measurement device and the inertial navigation device acquire the driving status and basic navigation information of the tunneling equipment during the underground mining process. At the same time, data is transmitted through the signal transceiver device, and it is determined whether the tunneling equipment has stopped moving. When the tunneling equipment stops moving after completing its work, the anchor hauling machine starts to move and follow until the interval change data between the tunneling equipment and the anchor hauling machine reaches the preset interval distance. Then, the ultra-wideband cascade module measures the position change between the tunneling equipment and the preset starting point. The data calculation module integrates the data from the tracked walking pulse measurement device, the inertial navigation device, the signal transceiver device, and the ultra-wideband cascade module to perform dead reckoning and feeds back the dead reckoning results to the host computer.

2. The system for precise position and attitude linkage measurement of downhole equipment according to claim 1, characterized in that, The UWB sub-modules are evenly distributed on the belt conveyor at 20-meter intervals, starting from a preset starting point coordinate position, and each UWB sub-module is assigned a serial number.

3. The system for precise position and attitude linkage measurement of downhole equipment according to claim 1, characterized in that, The signal transceiver includes a signal transmitting device and a signal receiving device; The signal transmitting device is installed on the front side of the anchor transport machine and corresponds to the UWB terminal of the ultra-wideband cascade module, and is used to monitor the movement between the anchor transport machine and the tunneling equipment in real time. The signal receiving device is installed in the middle of the rear side of the main body of the tunneling equipment and corresponds to the signal transmitting device. It is used to capture the movement between the tunneling equipment and the anchor transport machine in real time. When the tunneling equipment is performing mining operations, it moves forward. The signal transmitter detects the movement of the tunneling equipment, at which point the anchor hauler stops. The signal transmitter continuously monitors the amount of movement between the anchor hauler and the tunneling equipment. When the tunneling equipment completes the mining operation, it stops moving. The signal transmitter detects that the tunneling equipment has stopped. At this time, the anchor hauler moves towards the tunneling equipment, and the signal transmitter continuously monitors the distance between the anchor hauler and the tunneling equipment. When the distance reaches a preset distance threshold, the anchor hauler stops.

4. The system for precise position and attitude linkage measurement of downhole equipment according to claim 3, characterized in that, The signal receiving device integrates a power supply, a MIMO antenna, and a signal receiving processor. The signal transmitting device integrates lidar, UWB sensor and IMU sensor to monitor the changes in movement and attitude between the tunneling equipment and the anchor transport machine in real time, and transmits the monitored data to the signal receiving device, and then transmits it to the data processing module through MIMO antenna.

5. The system for precise position and attitude linkage measurement of downhole equipment according to claim 1, characterized in that, There are at least two track travel pulse measuring devices, which are respectively installed on the track drive motors on both sides of the tunneling equipment.

6. The system for precise position and attitude linkage measurement of downhole equipment according to claim 1, characterized in that, The inertial navigation device is installed on the upper middle part of the tunneling equipment; the inertial navigation device includes a three-axis fiber optic gyroscope and an accelerometer.

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