基于旋转式IMU地下管线轨迹探测系统

Underground pipeline trajectory detection system based on rotary IMU

针对传统电磁式地下管线轨迹探测易受外界环境影响的问题,设计了基于旋转式惯性测量单元(IMU)地下管线轨迹探测系统。选用单轴光纤陀螺仪、加速度计、霍尔传感器组合,采用欧拉角旋转矩阵原理,设计算法与数学平台。硬件部分使用捷联/平台混合方式架构设计,利用惯性测量方法追踪姿态角变化,不受外界环境以及管线材质的影响并且探测连续性强。软件部分使用C语言编写程序,解算管道对应的相对坐标;利用Python将坐标绘制成三维轨迹图,能够更直观呈现管线空间轨迹情况。通过大量实验测试表明:所提系统可以准确测出管线轨迹数据,经过与工程实际其他测量方式比较,符合率较高,系统可以满足工程要求。

Aiming at the problem that the traditional electromagnetic underground pipeline trajectory detection is susceptible to the external environment,an underground pipeline trajectory detection system based on rotary inertial measurement unit(IMU)is designed.The system uses combination of single-axis fiber-optic gyroscope,accelerometer and Hall sensor,and uses the Euler angle rotation matrix principle to design the algorithm and mathematics platform.The hardware part uses the SINS/PINS hybrid architecture design to track the change of attitude angle using inertial measurement methods,which is not affected by the external environment and pipeline material,and the detection continuity is strong.The software part uses C language to write the program,and solves the relative coordinates of the pipeline;using Python to draw the coordinates into a three-dimensional trajectory map,which can more intuitively present the pipeline space trajectory.Through a large number of experimental tests,the system can accurately measure the pipeline trajectory data.After comparing with other actual measurement methods,the compliance rate is high,indicating that the system can meet the engineering requirements.