Underground-pipeline Mapping System Based on Inertial Measurement Unit: Research and Application

Underground pipelines are increasingly used for power and communication cables and oil and gas transportation. Mapping the pipeline trajectory is an essential and challenging task for construction and maintenance. This study introduces an underground-pipeline mapping system that involves establishing a trajectory calculation model, developing a robot, and compiling a trajectory calculation program. Innovative complementary and geometric modifications are proposed to obtain satisfactory results. To improve the accuracy of mileage recording, the mileage-recording function is separated from the supporting wheel-set. The maximum errors of the measured trajectories in the vertical and horizontal directions are 0.1264% and 0.2124%, respectively. The system is practical and reliable; data can be uploaded quickly, and the software interface is easy to operate. Hence, the system meets the requirements for engineering applications and can be effectively used for the construction and maintenance of underground pipelines.