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This paper presents a newly designed sensing system for 3-Dimensional (3D) mapping of underground optic fibre cable conduit with inertial sensors and encoder. This system consists of a sensing unit containing an inertial measurement unit (IMU) and battery, a duct rodder and a fibre blowing machine with an encoder. A sensor fusion algorithm is developed to estimate the orientation with the measurements of the gyroscope and accelerometer. With the assumption that the sensing unit only moves along one direction, the 3D trajectory or position of the sensing unit is estimated with the encoder readings and orientation estimation. Additional information, such as the orientation and position of the starting and ending points, are integrated into the algorithm to correct the sensing drifting and refine the position estimation. Experiments with three different layouts of the conduits are conducted and analysed graphically and numerically by comparing with the actual layouts.

Development of sensing system for 3-dimensional mapping of underground optic fibre cable conduit