Error simulation and accuracy evaluation method for integrated inertial alignment measurement

doi:10.11947/j.AGCS.2026.20250428

Abstract

Abstract:

Precise alignment monitoring for long-distance linear infrastructure such as railway tracks, pipelines and bridges serves as a critical safeguard for operation and maintenance safety. In recent years, integrated inertial alignment measurement has been increasingly widely adopted in alignment variation monitoring, benefiting from its dual advantages of high efficiency and high precision. Nevertheless, the errors inherent in this measurement method feature strong nonlinearity, multi-source coupling and spatiotemporal accumulation, rendering traditional analytical methods incapable of accurate quantitative analysis. To tackle this practical engineering challenge, this paper proposes a Monte Carlo-based method for error simulation and accuracy evaluation. Specifically, high-fidelity trajectory generation is realized through spline function fitting combined with inverse calculation of inertial mechanization; a multi-source error coupling model is established, and realistic sensor errors are injected via the Monte Carlo approach; trajectory reconstruction is performed using Kalman filtering integrated with Rauch-Tung-Striebel (RTS) smoothing; and visualized assessment of alignment measurement errors is achieved by means of error ellipses. Simulations are carried out for measurement tasks on straight and U-shaped alignment structures, represented by pre-embedded pipelines inside dams and railway tracks. Validated with field measurement data from dam pipelines, the correlation coefficient between simulation results and measured data reaches 87.3%. Further experiments investigate the influence patterns of key factors including sensor accuracy, moving velocity and control point spacing on measurement accuracy. This study develops an integrated methodological framework covering trajectory generation, error injection, trajectory reconstruction and accuracy evaluation. It can effectively support the optimization of engineering schemes such as sensor selection and control point deployment, and provides technical reference for deformation monitoring of long-distance linear engineering structures.

Key words: integrated inertial-odometer measurement, simulation, alignment measurement, accuracy visualization

CLC Number:

P258

Zhipeng CHEN, Shiwang LÜ, Xinyi WANG. Error simulation and accuracy evaluation method for integrated inertial alignment measurement[J]. Acta Geodaetica et Cartographica Sinica, 2026, 55(6): 1087-1100.

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URL: http://xb.chinasmp.com/EN/10.11947/j.AGCS.2026.20250428

http://xb.chinasmp.com/EN/Y2026/V55/I6/1087

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坐标系符号	坐标系符号
地心惯性坐标系	i系
载体坐标系	b系
当地水平导航坐标系	n系

统计值	东坐标	北坐标	高程
最大值	12.64	13.22	2.93
最小值	－13.23	－11.17	－1.52
平均值	－0.04	－0.15	0.01

方法	东坐标RMSE/mm	北坐标RMSE/mm	高程RMSE/mm	相对精度
本文方法	3.21	3.57	0.89	0.23×10^－6
方法1	28.65	31.24	5.72	2.17×10^－6
方法2	15.32	16.87	3.24	1.12×10^－6

对比维度	本文方法	方法1	方法2
复杂形状线性工程仿真	是	否	是（但精度低）
多源误差耦合建模	是	否	是（但线性近似）
误差空间分布可视化	是	否	否
测量方案优化	是	否	有限

线形	管长/m	有效椭圆数	轴	平均轴长/m	最大轴长/m
直线形	300	15	长轴	0.004 0	0.004 8
直线形	300	15	短轴	0.003 1	0.003 5
U形	300	15	长轴	0.004 2	0.005 3
U形	300	15	短轴	0.003 5	0.004 3