非开挖技术敷设的管道往往深度较大,常出现穿越河流和湖泊的情况,向管道探测提出更大挑战;设计一种基于捷联惯性导航原理的非开挖管道位置检测系统,完成管道坐标的检测、存储与显示;检测器以STM32为控制核心,以MEMS惯性传感器和里程轮为数据采集单元;存储的数据由MATLAB读取并进行三维显示;重点阐述系统组成和惯性导航基本原理;针对惯性传感器随机噪声影响定位精度的问题,利用卡尔曼滤波算法对姿态信息进行最优估计;在15m长的管道内进行两组检测实验,验证磁场对系统检测精度是否产生影响,3个轴向的最大的测量偏差为0.64 m;结果表明,该系统可以为地下管道管理提供一种有效的位置检测手段.%Trenchless pipelines are often very deep and often pass through rivers and lakes,whichpose agreater challenge to pipeline exploration.In this paper,a trenchless Pipeline position detection system based on strapdown inertial navigation principle is designed,which can detect,store and display the pipeline coordinates independently.The detector takes STM32 as the control core,and use MEMS inertial sensors and mileage wheels as data acquisition units.The stored data is read by MATLAB and displayed in a three-dimensional way.This paper focuses on the system composition and the basic principle of inertial navigation.Aiming at the problem that the inertial sensor random noise affects the location accuracy,the Calman filtering algorithm is used to estimate the attitude information optimally.Two groups of tests were carried out in the 15 m long pipeline to verify whether the magnetic field had an impact on the detection accuracy,and the maximum deviation of the three axial measurements was 0.64 m.The results show that the system can provide an effective location detection method for the management of oil and gas pipelines.
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