Research on trajectory detection technology of cavern flow based on inertial navigation

The trajectories detection of carven flow is estimated generally through the calculation of changes in various physical fields and the hydrogeological conditions. This paper uses inertial components to solve the trajectory of carven flow. Due to the characteristics and the complex movement attitude of the inertial components in the flow, the calculation error accumulate over time, even cover the true trajectory. Based on the characteristics of carven flow and inertial components, this paper proposes a new trajectory detection technology to obtain relatively accurate trajectory.