Tunneling and navigation systems including controller configured to determine environmental characteristic

A tunneling device comprising:

• a body assembly comprising:
• a first section configured to switch from a first configuration having a first width to a second configuration having a second width when a pressurized fluid is delivered to said first section;
• and
• a second section coupled to said first section and configured to switch from a third configuration having a third width to a fourth configuration having a fourth width when the pressurized fluid is delivered to said second section, wherein said first section and said second section of said body assembly are configured to selectively switch between the first configuration and the second configuration and between the third configuration and the fourth configuration and move said body assembly through an underground location;
• and
• a plurality of sensors comprising a first sensor and a second sensor coupled to said first section, said first sensor being configured to measure a flow rate of the pressurized fluid delivered to or removed from said first section, said second sensor configured to measure a pressure of the pressurized fluid within said first section, wherein a controller is configured to determine a displacement of said first section based on the measured flow rate of the pressurized fluid, said controller being further configured to determine an environmental characteristic based on both:
• i) the pressure of the pressurized fluid measured by said second sensor and ii) the determined displacement, said controller being further configured to provide instructions to move said body assembly through the underground location;
• and
• a tip coupled to said body assembly and configured to displace material and form a tunnel having a sidewall defining an interior cavity when said body assembly moves through the underground location,
• wherein the fourth width of said second section of said body assembly is larger than the second width of said first section of said body assembly such that said second section of said body assembly is configured to engage the sidewall of the tunnel and enlarge the interior cavity of the tunnel when said body assembly moves through the underground location.

A method for determining an environmental characteristic of a tunnel, said method comprising:

• positioning a tunneling device in an underground location, the tunneling device including a body assembly including a first section and a second section;
• delivering, via a fluid line, pressurized fluid to the body assembly, wherein the first section and the second section of the body assembly are configured to selectively adjust their size and move the body assembly through the underground location when the pressurized fluid is delivered to the body assembly;
• measuring, by a first sensor of a plurality of sensors, a flow rate of the pressurized fluid delivered to or removed from the first section through the fluid line, the first sensor being coupled to the fluid line;
• measuring, by a second sensor of the plurality of sensors, a pressure of the pressurized fluid within the first section of the body assembly, the second sensor being coupled to the first section of the body assembly;
• and
• determining, by a controller, a displacement of the first section based on the measured flow rate of the pressurized fluid;
• and
• determining, by the controller, the environmental characteristic of the tunnel based on both:
• i) the determined displacement and ii) the pressure of the pressurized fluid measured by the second sensor.