A Study on a Position Measurement Method for Conduit Pipelines Using Cumulating Attitude

Abstract

A new position measurement method for conduit pipelines buried under public roads is proposed. In this method, two modules, a vehicle and a probe move inside a pipeline. The probe measures the pipeline inclination and radius of curvature. The position of the pipeline is calculated by cumulating the inclination and the attitude angle from the radius of the curvature measurement. Position measurement accuracy is analyzed and evaluated with standard deviations of the inclination and radius of curvature. This method of measurement is confirmed to be useful by experiments with a pipeline 40 m long with an internal diameter of 80 mm. The error in the horizontal and vertical measurements is smaller than 20 cm.