Underground pipeline track surveying and mapping method based on feature position identification

The invention discloses an underground pipeline track surveying and mapping method based on feature position identification. The method comprises the following steps: acquiring IMU data; identifying the IMU data by adopting a wavelet transform modulus maximum WTMM method to obtain a periodic noise position as a feature position CPR; screening curve position information in the feature position CPR by using a Pauta criterion; updating a measurement matrix in a measurement equation according to the curve position information; establishing an SINS/DR optimization algorithm based on feature position identification through the updated measurement matrix; and obtaining an IMU signal, and inputting the IMU signal into the SINS/DR optimization algorithm to obtain an optimized IMU signal. According to the method, position errors caused by crators in the pipeline surveying and mapping process are reduced, an improved positioning method is provided by utilizing the periodicity of the crators, and then the pipeline survey