Aiming at the problems of poor applicability, vulnerability to environmental interference and low measurement accuracy of existing underground pipeline detection methods, a high-precision pipeline measurement robot integration scheme based on pipeline measurement trolley and multi-sensor data fusion is proposed. The system uses the pipeline measurement trolley as the platform, the FPGA is the control core, the inertial measurement unit and the mileage measurement unit are mounted. The attitude information of the pipeline trolley is measured in real time, and the mileage and the position of the underground pipeline are calculated by integrating the mileage data and the starting and ending position coordinates. The test results show that the system has good applicability and strong anti-interference ability, real-time measurement of three-dimensional track parameters of underground pipelines, and synchronous transmission and storage of measurement data; data solution reaches 95 m lateral repeatability ±40 mm, the repeatability of the elevation is better than the ±20 mm high-precision curve measurement index.