30% - 40% of the world's pipelines have been built before the popularization of GPS. Due to the limitations of technical conditions at that time, the pipeline construction survey records might be inaccurate or have even been lost. For most old pipelines, accurate pipeline location information cannot be provided. Moreover, due to the impact of geohazards, the pipeline direction will be affected, so it is impossible to quickly judge the defect location, which is difficult for the normal maintenanc