Improved Design of Pipeline Trajectory Measuring Instrument

摘要

The power pipeline trajectory measuring instrument is designed according to the principle of inertial navigation with a single axis gyroscope,two single axis accelerometers and a group of odometer wheels.It is used to measure the azimuth angular velocity,pitch angle,roll angle,the instrument walking speed,distance,and storage sampled data.The PC software realized the functions of communication,data processing,trajectory drawing,coordinate transformation and saved the trajectory as a *.txt which can be opened by Auto-CAD directly.Finally,a test has been done by measuring a real pipeline.The testing results show that the improved design is effective and valuable.