Small-diameter pipeline defect positioning method based on artificial fish swarm algorithm

The invention relates to a pipeline surveying and mapping technology, and discloses a small-diameter pipeline defect positioning method based on an artificial fish swarm algorithm, which comprises the following steps: acquiring detection data of a detected pipeline through a pipeline measuring device, wherein the pipeline detection device comprises a shell, a data storage unit, a data processing unit, a strapdown inertial measurement unit and a power module are arranged in the shell, a tracking module, a pipeline defect detection sensor and an odometer are arranged outside the shell, and the odometer is located on the outermost side of the shell and tightly attached to the inner side wall of a pipeline. According to the invention, the detection precision can be improved without increasing any extra hardware cost, the realization of pipeline connector detection does not need to install other sensors in a pipeline measuring device, and the signal for detection is reutilization of inertial sensor data for pipeli