CN111335879B - Drilling track measuring device - Google Patents
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- CN111335879B CN111335879B CN202010140393.1A CN202010140393A CN111335879B CN 111335879 B CN111335879 B CN 111335879B CN 202010140393 A CN202010140393 A CN 202010140393A CN 111335879 B CN111335879 B CN 111335879B
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- 238000005553 drilling Methods 0.000 title claims abstract description 128
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/06—Measuring temperature or pressure
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- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
- E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
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Abstract
The invention discloses a drilling track measuring device, which is arranged in a first section of drill rod and comprises a shell and a drilling information acquisition unit arranged in the shell, wherein the drilling information acquisition unit is connected with a signal processing unit, the signal processing unit is connected with a storage unit, the storage unit is connected with a communication circuit, and the communication circuit is used for being connected with terminal equipment; the signal processing unit is used for acquiring the drilling track information by utilizing the drilling information and correcting the drilling track information; the storage unit is used for storing the corrected drilling track information; according to the invention, the requirement of non-magnetic environment is met, the drill rod is not required to be subjected to non-magnetic treatment, the measurement can be simultaneously completed in the drilling construction process, the use is convenient, the drilling is avoided being washed, the construction operation links are reduced, the operation difficulty is reduced, the use is convenient, the measurement result is accurate, the application range is wide, and the convenient and intelligent drilling track measurement requirement is met.
Description
Technical Field
The invention belongs to the technical field of drilling construction engineering under a mine, and particularly relates to a drilling track measuring device.
Background
In the process of coal mine production and construction, due to the reasons of inconsistent coal rock layer strength or stratum structure change and the like, the offset of a drill hole is easy to be large, and further the caused coal mine production actual problems of poor gas drainage effect caused by the fact that gas drainage holes are not constructed in place, water drainage caused by the fact that the final hole position of a water drainage drill hole is not accurate, the target layer position of a grouting hole is not accurate, the detection of a fire-fighting hole is not in place, the statistics of the drilling engineering quantity is complicated and the like are caused.
At present, the existing drilling parameter measuring or monitoring equipment adopts a magnetic sensor and needs a non-magnetic environment, and the measuring or monitoring equipment is positioned in a drill rod, so that the drill rod needs to be subjected to non-magnetic treatment, and the production cost is increased and the equipment operation difficulty is increased; meanwhile, steel products such as anchor cables, supports, electrical appliances, pipelines, drill rods and the like of underground coal mine equipment can seriously affect the measurement accuracy of the underground coal mine equipment, and other measurement or monitoring equipment needs to flush a drilled hole and send the drilled hole into the equipment after drilling construction is completed, so that the construction operation link and the operation difficulty of workers are increased, the application and popularization range is limited, and the requirements of convenience, rapidness and intellectualization are difficult to meet.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a drilling track measuring device and a measuring method, aiming at solving the technical problems of high drilling parameter measuring difficulty, high cost and low measuring accuracy in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention provides a drilling track measuring device, which is arranged in a first section of drill rod and comprises a shell, a drilling information acquisition unit, a signal processing unit, a storage unit, a communication circuit and a power supply, wherein the drilling information acquisition unit, the signal processing unit, the storage unit, the communication circuit and the power supply are arranged in the shell;
the drilling information acquisition unit is used for acquiring drilling construction information and transmitting the acquired drilling construction information to the signal processing unit, wherein the drilling construction information comprises drill rod action information, drilling environment magnetic field information and drill rod internal pressure information; the signal processing unit is used for acquiring drilling track information by using the drilling construction information and correcting the drilling track information to obtain corrected drilling track information; the storage unit is used for storing the corrected drilling track information.
Further, the drilling information acquisition unit comprises a six-axis inertial sensor, a three-axis magnetometer and a pressure sensor, wherein the six-axis inertial sensor and the three-axis magnetometer are both arranged in the shell and are both connected with the signal processing unit; the pressure sensor is arranged at the end part of the shell and is positioned at the connecting part of the first section of drill rod and the drill bit; the six-axis inertial sensor comprises a three-axis gyroscope sensor and a three-axis acceleration sensor, the three-axis gyroscope sensor is used for acquiring steering angular velocity information of the drill rod, and the three-axis acceleration sensor is used for acquiring steering angular velocity increment information of the drill rod; the three-axis magnetometer is used for acquiring geomagnetic field information of the environment where the construction drill hole is located; the pressure sensor is used for information of the internal pressure of the drill rod.
Furthermore, the wiring end of the communication circuit is arranged at the end part of the shell, and a waterproof body is arranged on the wiring end of the communication circuit.
Furthermore, the first section of drill rod adopts a short section drill rod, and the length of the short section drill rod is 0.4-1.0m.
Further, the signal processing unit acquires the drilling track information, and performs noise reduction and filtering processing on the drilling track information, and the method specifically comprises the following steps:
Further, in step 1, the euler angle attitude kinematic equation is:
wherein the content of the first and second substances,
the direction cosine array of the drill bit attitude is shown, the superscript n represents a geographical coordinate system, and the subscript b represents a drill bit measurement coordinate system;
an antisymmetric array formed by three-dimensional vectors of steering angular velocity of the drill rod acquired by the triaxial gyroscope sensor; drill rod steering angular velocity three-dimensional vector obtained by triaxial gyroscope sensor
Further, the mathematical expressions for the azimuth ψ, roll angle γ, and pitch angle θ of the drill bit are as follows:
wherein the direction cosine array of the bit attitude
Furthermore, the shell is filled with sealant, and the drilling information acquisition unit, the signal processing unit, the storage unit, the communication circuit and the power supply are sealed in the shell by the sealant.
Further, the terminal device is used for analyzing and processing the corrected drilling track information stored in the storage unit and drawing a drilling three-dimensional track graph.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a drilling track measuring device, which is characterized in that drilling information is acquired through a drilling information acquisition unit arranged in a drill rod, the acquired drilling holes are subjected to calculation, filtering and noise reduction through a signal processing unit, the result is stored in a storage unit, after the measurement is finished, the storage unit is connected with a terminal device, and the drilling track information is analyzed and sorted; the drilling rod length is shortened, the production cost is reduced, the drilling construction process can be completed simultaneously, the use is convenient, the drilling hole is prevented from being washed, the construction operation links are reduced, the operation difficulty is reduced, the use is convenient, the measurement result is accurate, the application range is wide, and the drilling track measurement requirements of convenience and intellectualization are met.
Furthermore, the three-axis gyroscope sensor is adopted to acquire the steering angular velocity information of the drill rod, the three-axis acceleration sensor is utilized to acquire the steering angular velocity increment information of the drill rod, the three-axis magnetometer is utilized to acquire the geomagnetic field information of the environment where the construction drilling hole is located, the pressure sensor is utilized to acquire the pressure information inside the drill rod, the posture information of the drill bit in the drilling construction process can be accurately measured, the measured information can be compared with each other for verification, and the accuracy of the measurement result is effectively improved.
Furthermore, a waterproof body is arranged on a wiring end of the communication circuit, so that the waterproof function of the measuring device is realized, the safety of the measuring device is ensured, and the service life of the device is prolonged.
Furthermore, the first section of drill rod adopts a short section of drill rod, so that data can be conveniently derived after measurement is completed, and the maintenance and replacement of the device are simultaneously met.
Furthermore, the posture of the drill bit is obtained through a drill bit tunneling motion model, interference waves and vibration noises in the construction process are removed through Kalman filtering, the adding operation of the drill rod is monitored in a fuzzy logic judgment mode, the tunneling footage of the drill bit is obtained, track information of drilling holes is finally obtained, interference of useless information on data calculation is reduced, the accuracy of a measuring result is high, and the application range is wide.
Furthermore, the sealing of each part of the measuring device is realized by filling the sealing glue in the shell, the waterproof performance of the device is ensured, meanwhile, the vibration of the drilling process to each part is avoided, the stability of the device is improved, the use under various environments is met, and the accuracy of the measuring result is improved.
Drawings
FIG. 1 is a block diagram of a drilling trajectory measuring device according to the present invention;
FIG. 2 is a schematic diagram of an overall structure of a drilling trajectory measuring device according to the present invention;
FIG. 3 is a longitudinal sectional view showing an assembled structure of a drilling trajectory measuring device according to the present invention;
FIG. 4 is a cross-sectional view of an assembly structure of a drilling trajectory measuring device according to the present invention;
FIG. 5 is a schematic flow chart illustrating the operation principle of a signal processing unit in the drilling trajectory measuring device according to the present invention;
FIG. 6 is a graph of three-axis gyroscope data and pressure data from a borehole trajectory measurement apparatus according to the present invention;
FIG. 7 is a graph of borehole pitch data results from a borehole trajectory measurement apparatus according to the present invention;
FIG. 8 is a borehole azimuth data result curve of a borehole trajectory measurement apparatus according to the present invention;
FIG. 9 is a graph showing the horizontal position change of a drill in a drilling trajectory measuring device according to the present invention;
FIG. 10 is a graph showing the vertical variation of the drill position in the drilling trajectory measuring device according to the present invention;
fig. 11 is a three-dimensional spatial position variation curve of a drill in a drilling trajectory measuring device according to the present invention.
The device comprises a shell 1, a drilling information acquisition unit 2, a signal processing unit 3, a storage unit 4, a communication circuit 5, a power supply 6, terminal equipment 7, a waterproof body 8, a first section of drilling rod 9, a drilling track measuring device 10, a drill bit 11 and a fixing piece 12, wherein the drilling information acquisition unit is connected with the drilling information acquisition unit through a communication line; a 21 six-axis inertial sensor, a 22 three-axis magnetometer, and a 23 pressure sensor.
Detailed Description
The present invention will be described in further detail with reference to the following embodiments.
As shown in fig. 1 to 11, the present invention provides a drilling trajectory measuring device, wherein the drilling trajectory measuring device 10 is fixedly installed in a first section of drill rod 9, and comprises a housing 1, a drilling information acquisition unit 2, a signal processing unit 3, a storage unit 4, a communication circuit 5, a power supply 6, a terminal device 7 and a waterproof body 8, wherein the drilling information acquisition unit 2, the signal processing unit 3, the storage unit 4, the communication circuit 5 and the power supply 6 are hermetically arranged in the housing 1.
The casing 1 is fixedly arranged in a first section of drill rod 9 through a fixing piece 12, the casing 1 is filled with sealant, and the drilling information acquisition unit 2, the signal processing unit 3, the storage unit 4, the communication circuit 5 and the power supply 6 are sealed in the casing 1 by adopting the sealant; through filling sealed glue in shell 1, realized the sealed of each part of measuring device, ensured measuring device's waterproof performance, simultaneously, avoided the vibrations of drilling work progress to each part, improved the stability of device, satisfy the use under the various environment, improved measuring result's accuracy.
The output end of the drilling information acquisition unit 2 is connected with the input end of the signal processing unit 3, the output end of the signal processing unit 3 is connected with the storage unit 4, the output end of the storage unit 4 is connected with the communication circuit 5, the wiring end of the communication circuit 5 is arranged at the end part of the shell 1, the waterproof body 8 is hermetically arranged on the wiring end of the communication circuit 5, the waterproof function of the measuring device is realized by arranging the waterproof body 8 on the wiring end of the communication circuit 5, the safety of the measuring device is ensured, and the service life of the device is prolonged; the communication circuit 5 is connected with a terminal device 7 through a data line, and the terminal device 7 is used for analyzing and processing the corrected drilling track information stored in the storage unit 4 and drawing a drilling three-dimensional track graph; the first section of the drill rod 9 adopts a short section of drill rod, and the first section of the drill rod 9 adopts a short section of drill rod, so that data can be conveniently led out after measurement is finished, and meanwhile, the maintenance and replacement of the device can be met; preferably, the length of the pup joint drill rod is 0.4-1.0m.
The drilling information acquisition unit 2 is used for acquiring drilling construction information and transmitting the acquired drilling construction information to the signal processing unit 3, wherein the drilling construction information comprises drill rod action information, drilling environment magnetic field information and drill rod internal pressure information; the signal processing unit 3 is used for acquiring the drilling track information by using the drilling information, and performing noise reduction and filtering processing on the drilling track information to obtain corrected drilling track information; the storage unit 4 is used for storing the corrected drilling track information.
The drilling information acquisition unit 2 comprises a six-axis inertial sensor 21, a three-axis magnetometer 22 and a pressure sensor 23, wherein the six-axis inertial sensor 21 and the three-axis magnetometer 22 are arranged in the shell 1 and are connected with the signal processing unit 3; the pressure sensor 23 is arranged at the end part of the shell 1 and is positioned at the joint of the first section of the drill rod 9 and the drill bit 11; the six-axis inertial sensor 21 comprises a three-axis gyroscope sensor and a three-axis acceleration sensor, wherein the three-axis gyroscope sensor is used for acquiring steering angular velocity information of the drill rod, and the three-axis acceleration sensor is used for acquiring steering angular velocity increment information of the drill rod; the three-axis magnetometer 22 is used for acquiring geomagnetic field information of the environment where the construction drill hole is located; the pressure sensor 23 is used for drill pipe internal pressure information.
The signal processing unit 3 carries out noise reduction, filtering and correction processing on the measured value, the data obtained by the measurement of the triaxial acceleration sensor and the triaxial gyroscope sensor include a large amount of interference vibration noise, and the data is subjected to noise reduction processing by adopting efficient and simple mean filtering in consideration of the realization of actual engineering hardware; when the signal processing unit 3 acquires the drilling track information, the method comprises the following steps:
Establishing an Euler angle attitude kinematic equation according to the set drill rod steering sequence, wherein the established Euler angle attitude kinematic equation is shown as the following formula (1):
wherein the content of the first and second substances,
the direction cosine array of the drill bit attitude is shown, the superscript n of the direction cosine array represents a geographical coordinate system, and the subscript b represents a drill bit measurement coordinate system;
representing an antisymmetric array formed by three-dimensional vectors of steering angular velocities of the drill rod acquired by the x, y and z triaxial gyroscope sensors; drill rod steering angular velocity three-dimensional vector obtained by three-axis gyroscope sensor
And 2, calculating to obtain the azimuth angle psi, the roll angle gamma and the pitch angle theta of the drill bit by utilizing a multi-step algorithm of the steering angular velocity increment information of the drill rod at the integral stepping inner point.
Calculating the attitude direction cosine array in the formula (1) according to the matrix chain multiplication rule
Comprises the following steps:
wherein k is t k Time of day; since the i-system is an absolutely motionless inertial reference frame, it is time independent; n is approximately fixed under the application environment; and b is a moving coordinate system with respect to i, with respect to time;
wherein, the matrix
Denotes i as a reference, b is from t k-1 Time t k The change in the rotation at a moment in time,
drill rod steering angular velocity three-dimensional vector capable of being obtained by three-axis gyroscope sensor
Determining;
wherein the drill rod steering angular velocity increment is
Δθ k X is its anti-symmetric matrix.
The direction cosine array representing the attitude of the drill bit can be calculated by equations (3) to (4):
the azimuth ψ, roll γ, and pitch θ of the drill bit can be obtained from equation (5):
and 3, correcting the azimuth angle psi, the roll angle gamma and the pitch angle theta of the drill bit by using a discrete nonlinear extended Kalman filter to obtain the attitude angles of the drill bit at different moments.
Performing data fusion on a bit azimuth psi, a roll angle gamma and a pitch angle theta obtained by calculating the bit tunneling motion model by using Kalman filtering to improve the system precision; in the tunneling process of the drill bit, the high-speed rotation characteristic determines that the adopted Kalman filter needs to adopt a nonlinear extended Kalman filter, so that the state and the observation model of the drill bit do not need to be linear state functions.
It is assumed that a continuous or discrete stochastic system can be represented by a nonlinear dynamical equation and a model equation describing the measurement results, as shown in table 1.
TABLE 1. Nonlinear model of dynamics and measurements
The function f () in the system equation can be used to design a bit heading motion model based on the model established in equation (1) and functions to calculate a predicted state using previous estimates, and similarly, the function h () can be used to calculate a predicted measure based on the predicted state.
According to the drill bit tunneling motion model, three Euler angles are selected: the pitch angle theta, the roll angle gamma and the azimuth angle psi serve as state vectors of the nonlinear extended Kalman filter;
selecting the steering angular speed of a drill rod acquired by an x, y and z triaxial accelerometer and the azimuth angle calculated by acquiring the geomagnetic field information of the environment where the construction borehole is located by using the triaxial magnetometer as a measured value z (t) of a nonlinear extended Kalman filter:
the discrete nonlinear Extended Kalman Filter (EKF) in the present invention has the equation:
P k ＝(I-K k H k )P k|k-1 Covariance matrix of update system
Three euler angles during bit excavation were measured using a discrete nonlinear Extended Kalman Filter (EKF): and correcting the pitch angle theta, the roll angle gamma and the azimuth angle psi in real time to obtain an accurate attitude angle of the position of the drill bit, and generating the three-dimensional position of the drill bit subsequently.
And 4, carrying out fuzzy judgment on the drill bit tunneling footage by utilizing the internal pressure information of the drill rod acquired by the pressure sensor and the periodic change of the steering angular speed information of the drill rod acquired by the three-axis gyroscope to generate effective drill bit tunneling footage data.
The drill rod adding operation is approximately periodically carried out in the process of tunneling the drill bit, and the method adopts a fuzzy logic judgment mode to monitor the drill rod adding operation in consideration of the fact that information data acquired by a pressure sensor and a triaxial gyroscope are interfered by a large amount of noise in practical application, so that great errors are caused when the drill rod adding is determined by adopting a fixed threshold. Under normal operating conditions of the drill bit, the pressure sensors and the three-axis gyroscope exhibit approximately periodic data changes. When the drill bit is used for tunneling, continuous peak values appear in sequence in data acquired by the triaxial gyroscope and the pressure sensor, and when a drill rod is added, the triaxial gyroscope has obvious back-and-forth rotation data, and the pressure sensor has smooth section data, as shown in fig. 6.
Principle of operation
The drilling track measuring device provided by the invention aims at solving the practical problems of coal mine production, such as poor gas drainage effect, water drainage due to inaccurate gas drainage hole construction caused by large drilling offset due to different coal rock layer strength, stratum structure change and the like in the production and construction processes of coal mines, inaccurate water drainage due to inaccurate gas drainage hole detection and drainage drilling final hole position, inaccurate grouting hole target layer position, inaccurate fire prevention and extinguishing hole detection, and complicated drilling engineering quantity statistics, and the actual inclination angle, azimuth angle and offset of a drill hole cannot be accurately known in specific operation, so that the difference between the design parameters and the actual parameters of the drill hole is difficult to master.
The invention relates to a drilling track measuring device, which is arranged in a drill rod; the specific working method comprises the following steps: acquiring data information in the drilling process of a drilled hole in real time by using a six-axis inertial sensor, a three-axis magnetometer and a pressure sensor, transmitting the data information to a signal processing unit, processing the data information acquired by the sensors by the signal processing unit, calculating an azimuth angle psi, a roll angle gamma and a pitch angle theta of the drill bit at different moments in the drilled hole, correcting the calculation result by using a filtering and compensating algorithm, and storing the corrected result in a storage unit, wherein the results are shown in the attached figures 7-10; after the drilling construction is finished and the drilling tool is withdrawn, the drilling track measuring device is taken out of the drilling rod and is connected and transmitted to the terminal analysis equipment through the data line, and the terminal analysis equipment analyzes the data and draws a drilling three-dimensional track graph, as shown in the attached figure 11.
The invention does not need a non-magnetic environment, does not need to carry out non-magnetic treatment on the drill rod, and saves the production cost; meanwhile, the serious influence of underground equipment such as anchor cables, supports, electric appliances, pipelines, drill rods and other steel products on the measurement accuracy is avoided; the construction operation links and the operation difficulty of workers are not increased, and the requirements of convenience and intellectualization are effectively met.
The above description is only illustrative of the preferred embodiments of the present invention, and any variations, modifications, and improvements in the structure, modification, and decoration of any person without departing from the principle of the present invention are all considered to be within the scope of the present invention.
Claims (8)
1. The drilling track measuring device is characterized in that the drilling track measuring device (10) is installed in a first section of drill rod (9) and comprises a shell (1), a drilling information acquisition unit (2) arranged in the shell (1), a signal processing unit (3), a storage unit (4), a communication circuit (5) and a power supply (6), wherein the output end of the drilling information acquisition unit (2) is connected with the input end of the signal processing unit (3), the output end of the signal processing unit (3) is connected with the storage unit (4), the output end of the storage unit (4) is connected with the communication circuit (5), and the communication circuit (5) is used for being connected with a terminal device (7);
the drilling information acquisition unit (2) is used for acquiring drilling construction information and transmitting the acquired drilling construction information to the signal processing unit (3), wherein the drilling construction information comprises drill rod action information, drilling environment magnetic field information and drill rod internal pressure information; the signal processing unit (3) is used for acquiring drilling track information by using the drilling construction information, and correcting the drilling track information to obtain corrected drilling track information; the storage unit (4) is used for storing the corrected drilling track information;
the drilling information acquisition unit (2) comprises a six-axis inertial sensor (21), a three-axis magnetometer (22) and a pressure sensor (23), wherein the six-axis inertial sensor (21) and the three-axis magnetometer (22) are arranged in the shell (1) and are connected with the signal processing unit (3); the pressure sensor (23) is arranged at the end part of the shell (1) and is positioned at the connection part of the first section of drill rod (9) and the drill bit (11); the six-axis inertial sensor (21) comprises a three-axis gyroscope sensor and a three-axis acceleration sensor, the three-axis gyroscope sensor is used for acquiring steering angular velocity information of the drill rod, and the three-axis acceleration sensor is used for acquiring steering angular velocity increment information of the drill rod; the three-axis magnetometer (22) is used for acquiring geomagnetic field information of the environment where the construction drill hole is located; the pressure sensor (23) is used for the internal pressure information of the drill rod.
2. A drilling trajectory measuring device according to claim 1, characterized in that the connection terminal of the communication circuit (5) is arranged at the end of the housing (1), and a waterproof body (8) is arranged on the connection terminal of the communication circuit (5).
3. The drilling trajectory measuring device according to claim 1, characterized in that the first section of drill rod (9) is a short section of drill rod, and the length of the short section of drill rod is 0.4-1.0m.
4. The device for measuring the drilling track according to claim 1, wherein the signal processing unit (3) acquires the drilling track information and performs the processes of noise reduction and filtering on the drilling track information, and the method specifically comprises the following steps:
step 1, establishing an Euler angle attitude kinematic equation according to a set drill rod steering sequence;
step 2, calculating an azimuth angle psi, a roll angle gamma and a pitch angle theta of the drill bit by utilizing a multi-step algorithm of the steering angular velocity increment information of the drill rod at the integral stepping inner point;
step 3, correcting the azimuth angle psi, the roll angle gamma and the pitch angle theta of the drill bit by using a discrete nonlinear extended Kalman filter to obtain the postures of the drill bit at different moments;
step 4, carrying out fuzzy judgment on the drill bit tunneling footage according to the obtained periodic change of the drilling construction information to generate effective drill bit tunneling footage data;
step 5, calculating to obtain the number of accumulated drill rods of the drill bit in the tunneling process by using the effective drill bit tunneling footage data in the step 4; and combining the known length of the drill rod and the postures of the drill bit at different moments to obtain the real-time position change of the drill bit in the three-dimensional space, namely the track information of the drilling hole.
5. The borehole trajectory measurement device according to claim 4, wherein in step 1, the Euler's angular attitude kinematic equation is:
wherein the content of the first and second substances,
the direction cosine array of the drill bit attitude is represented by an upper mark n which represents a geographical coordinate system and a lower mark b which represents a drill bit measurement coordinate system;
an antisymmetric array formed by three-dimensional vectors of the steering angular velocity of the drill rod acquired by the triaxial gyroscope sensor; drill rod steering angular velocity three-dimensional vector obtained by triaxial gyroscope sensor
6. The apparatus of claim 4, wherein the mathematical expressions of the azimuth angle ψ, the roll angle γ, and the pitch angle θ of the drill bit are as follows:
wherein the direction cosine array of the bit attitude
7. The drilling track measuring device according to claim 1, wherein the casing (1) is filled with a sealant, and the drilling information acquisition unit (2), the signal processing unit (3), the storage unit (4), the communication circuit (5) and the power supply (6) are sealed in the casing (1) by the sealant.
8. The drilling trajectory measuring device according to claim 1, wherein the terminal device (7) is configured to analyze the corrected drilling trajectory information stored in the storage unit (4) and draw a three-dimensional drilling trajectory map.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010140393.1A CN111335879B (en) | 2020-03-03 | 2020-03-03 | Drilling track measuring device |
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| CN202010140393.1A CN111335879B (en) | 2020-03-03 | 2020-03-03 | Drilling track measuring device |
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| CN111335879A CN111335879A (en) | 2020-06-26 |
| CN111335879B true CN111335879B (en) | 2023-03-10 |
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