基于RISS和数据回溯的地下三维管道轨迹测量方法  

Underground 3D pipelines trajectory measurement method based on RISS and data backtracking

作　　者：王璐 祖雨彤 刘珈辰 陈治德 胡远彪[1] 陈凡 WANG Lu;ZU Yutong;LIU Jiachen;CHEN Zhide;HU Yuanbiao;CHEN Fan(College of Engineering and Technology,China University of Geosciences(Beijing),Beijing 100083,China;Beijing Beiran Huanneng Engineering and Technologies Co.,Ltd,Beijing 100083,China)

机构地区：[1]中国地质大学(北京)工程技术学院,北京100083 [2]北京北燃环能工程科技有限公司,北京100083

出　　处：《地质装备》2024年第S01期66-71,共6页Equipment for Geotechnical Engineering

基　　金：中国地质大学(北京)研究生创新资助项目(ZD2024YC079);国家自然科学基金联合基金项(U22A20184);国家自然科学基金青年科学基金项目(41902320)。

摘　　要：地下管道的三维轨迹测量是建立地下管网体系的基础。掌握地下管道的轨迹可以避免施工过程中对原有管道的破坏和工程事故。传统的管道测量方法在深度和环境方面存在局限性,导致无法获得管道轨迹的准确信息。因此,提出了一种基于简化惯性传感器(RISS)、GPS和里程仪的数据回溯融合测量算法。首先,利用RISS和GPS完成初始对准,再与里程仪进行导航解算,得到一组测量轨迹;其次,利用终点GPS数据获取终点位置和方位角,再对测量数据进行数据回溯,获得第二组测量轨迹;然后,再对正反向测量结果进行卡尔曼滤波融合。最后,进行管道轨迹测量实验,验证了该方法的可行性。实验结果表明,解算管道轨迹测量长度为2.56 m,测量绝对误差为0.56%,证明了基于RISS和数据回溯的地下三维管道轨迹测量方法的有效性。3D trajectory measurement of underground pipelines was the basis for establishing underground pipeline network system.Obtained the trajectories of underground pipelines could avoid original pipelines broken and engineering accidents during the construction.Traditional pipelines measurement methods had limitations in terms of depth and environment,resulting in the inability to obtain accurate information about pipeline trajectories.In this study,a data backtracking fusion measurement algorithm based on Reduced Inertial Sensor System(RISS),GPS and odometer was proposed.Firstly,the initial alignment was completed by RISS and start-point GPS,and then the navigation with RISS was integrated with the odometer to obtain a group trajectory.Secondly,the end-point GPS data was used to obtain the endpoint position and azimuth,and the data backtracking is applied to obtain another trajectory,then a Kalman filter fusion is established to obtain the forward and backward fusion results.Finally,a pipeline trajectory measurement experiment was conducted to verify the feasibility of the method.The experimental results show that the length of the measured pipeline trajectory is 2.56 m,and the absolute error of the measurement is 0.56%,which demonstrated the effectiveness of the underground 3D pipelines trajectory measurement method based on RISS and data backtracking.

关 键 词：地下管道 三维轨迹测量 RISS 数据回溯 

分 类 号：TU990.3[建筑科学—市政工程]