Yin Qing

1. Introduction For Measurement While Drilling (MWD), the inertial navigation system (INS) is widely used due to its high autonomy and independence. It does not rely on external input information; instead, continuous navigation data are obtained through calculations based on inertial sensors. However, downhole conditions, such as high temperatures and strong vibrations, combined with limitations in manufacturing processes [1,2], pose significant challenges to downhole attitude measurement.

1. Introduction In recent years, the development and utilization of underground space have received more and more attention, and the construction of underground pipeline networks is crucial for urban construction [1,2]. Pipe jacking construction causes little damage to rivers, plants, buildings and traffic facilities, generates low noise, works efficiently and can complete the laying of underground pipelines with high quality [3].