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TEST RESULTS OF THE INERTIAL NAVIGATION SYSTEM FOR DETERMINATION THE TRAJECTORY OF BOREHOLES IN SOIL WITH TRENCHLESS BUILDING UNDERGROUND PIPELINES

A.I. Konurin, A.P. Khmelinin, A.S. Kondratenko, S. Yu. Gavrilov
Thursday 11 October 2018 by Libadmin2018

ABSTRACT

The use of a trenchless method of laying underground utilities is an advantageous alternative to the use of open methods. The method of vibro-impact immersion in the ground of steel pipes with an open front end is widely used in the construction of closed underground passages. Determining the trajectory of a clogged pipe is one of the most important operations in this technology. The article describes result of laboratory tests of prototype model of strapdown inertial navigation system designed in N.A. Chinakal Institute of Mining SB RAS. Currently available drill navigation systems used in trenchless technologies for determination of the spatial position of boring operating element are reviewed in the article. Advantages and shortcomings of those systems are considered. A new approach to realizing drill navigation systems for trenchless technologies based on using inertial solid-state sensors (gyroscopes and accelerometers) is suggested by the authors. Results of comparison of filtering data algorithms and of error assessment are given. The main limitations and assumptions in the construction of the mathematical model of the process under consideration associated with the amount of spent computing resources are revealed.

Keywords: trenchless technologies, inertial navigation system, gyroscope, accelerometer, data filtering algorithm, error.


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