The inertial technology based 3-dimensional information measurement system for underground pipeline

Underground pipeline industry is developing at a very high speed and it is playing an increasingly important role in modem world. However, how to make a precise 3-dimensional survey of underground pipelines becomes a focused issue. Current survey methods have several disadvantages, such as limited depth, sensitivity to electrical-magnetic disturbances, low generality and poor manipulability. Inertial technology is an autonomic, anti-disturbance and high accurate positioning method which has been widely used in navigation systems. An inertial technology based underground pipeline survey system is designed in this paper. Firstly, basic principles including 3-dimensional dead reckoning, pitch and yaw angle measurement and a special survey procedure are introduced. Secondly, the system is structured and its software is designed. Thirdly, several multi-information fusion methods are used to eliminate certain sensors' disadvantages and promote the system's precision. Finally, a series of field tests are introduced to verify the system.