Abstract
Based on the analysis of the basic principle of traditional inertial navigation technology, this paper puts forward a kind of simplified model of the track measurement which applies to underground pipeline. The model using structures of half-strap-down stable platform that composes of a single axis gyro, two accelerometers and pulse taximeter, by measuring angular velocity of pipeline azimuth, pitching angle, platform rolling angle and pipeline length, combined with self-actuated research space track, work out the mathematics model, eventually work out the space track of the underground pipeline. The experiment proves that the underground pipeline track measurement instrument which is designed based on the simplified model, can meet the accuracy requirement of the no-dig project on track measurement, and the equipment’s operation is stable and reliable.
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