Hybrid visual-inertial measurement method of subway tunnel settlement

doi:10.11947/j.AGCS.2025.20250174

Abstract

Abstract:

Subway tunnels, as critical components of urban rail transit systems, are prone to uneven settlement during operation due to geological stress, adjacent construction activities, and long-term loading, which may compromise structural integrity and potentially lead to severe accidents. To address the limitations of conventional methods such as insufficient monitoring frequency and vulnerability to environmental vibrations, this paper proposes a real-time settlement monitoring method for subway tunnels based on inertial-visual measurement. The methodology integrates a hybrid visual-inertial measurement device to simultaneously capture tunnel marker images and collect instrument pose data through built-in inertial measurement units (IMU). By establishing a tunnel settlement calculation model that combines pixel coordinates of feature points with real-time pose parameters, this system achieves high-frequency displacement measurement. Simulation experiments demonstrate the method's capability for high-precision displacement monitoring (accuracy better than 1 mm) under platform vibration conditions, showing an 89.2% error reduction compared with pure vision-based approaches. Practical applications in metro tunnel monitoring reveal that the inertial-visual measurement method significantly outperforms traditional optical techniques in both accuracy and stability, with monitoring results exhibiting strong consistency with total station data. This approach demonstrates promising potential for real-time safety monitoring in long-span tunnel engineering applications.

Key words: hybrid visual-inertial measurement, subway tunnel settlement, real-time monitoring, dynamic precise engineering surveying

CLC Number:

P227

Yuansheng HUA, Boyu CHEN, Xinlin LIU, Yun YANG, Song ZHU, Jiasong ZHU, Qingquan LI. Hybrid visual-inertial measurement method of subway tunnel settlement[J]. Acta Geodaetica et Cartographica Sinica, 2025, 54(12): 2182-2193.

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方法	0.4°		0.8°		1.2°		1.6°		2.0°
方法	单步	周期	单步	周期	单步	周期	单步	周期	单步	周期
视觉测量	11.42	7.96	51.79	35.03	91.63	63.73	131.75	89.44	171.46	110.35
视觉测量+基准修正	5.07	3.61	5.08	3.49	5.09	3.60	5.11	3.51	5.18	3.36
惯性视觉测量	0.45	0.61	0.47	0.74	0.33	0.54	0.90	0.97	0.65	0.93

断面	相互较差/mm		相关系数/（%）
断面	视觉测量	惯性视觉测量仪	视觉测量	惯性视觉测量仪
1	0.83	0.26	1.14	75.56
2	1.47	0.19	6.52	61.33
3	2.13	0.36	14.77	46.88