Gas transmission pipeline detection method and device based on gyroscope

The embodiment of the invention relates to the technical field of pipeline surveying and mapping, and particularly discloses a gas transmission pipeline detection method and device based on a gyroscope, and the method comprises the steps: receiving an initial azimuth angle speed sequence collected by the gyroscope and an initial mileage sequence collected by a speedometer when the detection of a measurement unit in a gas transmission pipeline is finished, identifying an abnormal azimuth angle speed from the initial azimuth angle speed sequence and correcting the abnormal azimuth angle speed to obtain a target azimuth angle speed sequence, and determining mileage matched with the azimuth angle speed from the initial mileage sequence to obtain a target mileage sequence; and generating a three-dimensional coordinate sequence of the gas transmission pipeline by adopting the target azimuth speed sequence and the target mileage sequence so as to generate a three-dimensional pipeline diagram of the gas transmission