Underground pipeline mapping system based on micro-electro-mechanical system（ MEMS） gyroscope

including high-speed data acquisition

multi-sensor data fusion

high-real-time data storage and data reading

etc.are studied and implemented

and the pipeline mapping algorithm is usesd to calculate the read data

and finally the three-dimensional track of the measured pipeline is obtained. This system takes STM32 chip as the core and main control

realize complete reception of high-speed data of MEMS gyroscope and the synchronous measurement of mileage information

and uses MEMS-inertial measuement unit（ IMU）/odometer/incomplete constraint combined positioning algorithm to carry out navigation calculation of the read data

and finally realize the positioning error of 310 m long pipeline within 0. 15 %.