Detection of the Trench Depth Based on a Differential Inertial Sensor Technology

The article proposes the use of a differential inertial sensors system for detection of the trench depth under operation. The inertial sensors are employed to detect a posture of the trencher and as a result to determine an angle difference through inertial sensors located on a vehicle (as a reference) and on the trencher arm. In this way, the undesirable, disturbing effects caused by unevenness of the field etc. are significantly reduced or even eliminated. The trench depth calculation procedure combines the angle difference and relative dimensions of the trencher structure. It is displayed on a monitor in real time. To perform a remote monitoring, the system is equipped with wireless transmission module using an upper-computer. To decrease data oscillation under operation, the calculated angles need to be filtered. Therefore, simulation based on Kalman filter in MATLAB was performed and found Q/R rate takes an important role in filtering and filtering test verified it. In field test, error rate between trench depth measured and detected is within 5 % what confirms the practical usefulness of the developed measuring system for the trench depth detection.