Location detection of underground pipeline based on multi-sensor fusion

摘要

According to the location detection of underground pipeline, a new method of attitude calculation is presented. The multi-sensor fusion is based on three axis gyroscope, accelerometer and magnetometer. The information of accelerometer and magnetometer is used to correct the error of gyroscope, structure attitude matrix, and obtain the corrected yaw angle, pitch angle and roll angle. The conversion of space coordinate is carried out, and the vector information of underground pipeline location can be obtained. Experiments show that the system can effectively reduce the drift error of sensor, and the vector information of pipeline location has a high accuracy. The system has a certain practicality in the trenchless engineering of underground pipeline.