Box culvert detection robot positioning auxiliary device based on inertial navigation

The invention belongs to the technical field of underground box culvert detection facilities, and particularly relates to a box culvert detection robot positioning auxiliary device based on inertial navigation. The box culvert detection robot positioning auxiliary device comprises a pipeline sensor and a signal receiving device, wherein the pipeline sensor is located at the bottom of a detection robot and can emit an electromagnetic signal; the signal receiving device is located on the ground, can receive the electromagnetic signal sent by the pipeline sensor and is used for sensing the intensity of the electromagnetic signal so as to determine the position of the detection robot; and the detection robot comprises a robot main body ship, an air negative pressure type power system, a CCTV system, a sonar system, an autonomous power supply, an adapter substitute, an integrated controller, a receiving antenna, a receiving unit, a speed regulation module, an air pressure alarm device and aradar device. The box cu