The research and development team of bias technology is mainly composed of professionals from Beihang University. It adopts the autonomous navigation technology of aerospace vehicles-inertial navigation technology, and introduces the core device "gyroscope" in inertial technology, and independently develops an inertial locator (inertial gyroscope) for underground pipelines to accurately measure the three-dimensional position information of underground pipelines. Has more than 50 independent intellectual property rights and patented technologies. It is the earliest team engaged in the research and development of underground pipeline inertial gyroscope in China, and many technologies have reached the international leading level. The minimum pipe diameter can be measured to 40 mm.