高精度管线测量机器人多传感器集成方法

针对现有地下管道探测方法适用性差、易受环境干扰、测量精度低等问题，提出了一种基于管道测量小车，多传感器数据融合的高精度管线测量机器人集成方案。系统以管道测量小车为平台，FPGA为控制核心，挂载惯性测量单元、里程测算单元，通过实时测量管道小车的姿态信息，同时融合里程数据及起止位置坐标推算地下管道的埋深、走向等信息。测试结果表明，本系统的适用性好、抗干扰性强，实现了对地下管道三维航迹参数的实时测量，以及测量数据的同步传输和存储；数据解算达到了95 m横向重复性±40 mm，高程重复性优于±20 mm的高精度曲线测量指标。

Multi sensor integration method for high precision pipeline survey robot

Aiming at the problems of poor applicability, vulnerability to environmental interference and low measurement accuracy of existing underground pipeline detection methods, a high-precision pipeline measurement robot integration scheme based on pipeline measurement trolley and multi-sensor data fusion is proposed. The system uses the pipeline measurement trolley as the platform, the FPGA is the control core, the inertial measurement unit and the mileage measurement unit are mounted. The attitude information of the pipeline trolley is measured in real time, and the mileage and the position of the underground pipeline are calculated by integrating the mileage data and the starting and ending position coordinates. The test results show that the system has good applicability and strong anti-interference ability, real-time measurement of three-dimensional track parameters of underground pipelines, and synchronous transmission and storage of measurement data; data solution reaches 95 m lateral repeatability ±40 mm, the repeatability of the elevation is better than the ±20 mm high-precision curve measurement index.