CN103591962A - Positioning and orienting instrument optical fiber strap-down inertial measurement unit for coal industry - Google Patents

Positioning and orienting instrument optical fiber strap-down inertial measurement unit for coal industry Download PDF

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Publication number
CN103591962A
CN103591962A CN201310557704.4A CN201310557704A CN103591962A CN 103591962 A CN103591962 A CN 103591962A CN 201310557704 A CN201310557704 A CN 201310557704A CN 103591962 A CN103591962 A CN 103591962A
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CN
China
Prior art keywords
optical fibre
measurement unit
fibre gyro
combination
inertial measurement
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Pending
Application number
CN201310557704.4A
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Chinese (zh)
Inventor
章博
高爽
林铁
王小龙
张春熹
汪凯斌
李先慕
王璐
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Beihang University
Xian Research Institute Co Ltd of CCTEG
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Beihang University
Xian Research Institute Co Ltd of CCTEG
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Priority to CN201310557704.4A priority Critical patent/CN103591962A/en
Publication of CN103591962A publication Critical patent/CN103591962A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP 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
    • E21B47/024—Determining slope or direction of devices in the borehole
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation

Abstract

The invention discloses a positioning and orienting instrument optical fiber strap-down inertial measurement unit for the coal industry, which comprises an inertial measurement unit base, a triaxial optical fiber gyroscope combination, a triaxial accelerometer combination and a housing combination. The inertial measurement unit base comprises a bottom plate, a side wall and mounting claws; the triaxial optical fiber gyroscope combination comprises an IMU (Inertial Measurement Unit) bracket, optical fiber gyroscope sensitive rings and an optical fiber gyroscope integrated processing module; the triaxial accelerometer combination comprises accelerometers and an accelerometer mounting bracket the housing module comprises a housing, an electrical connector and a computer plate. Main sensitive elements of the positioning and orienting instrument optical fiber inertial measurement unit disclosed by the invention implement modular design and layout the positioning and orienting instrument optical fiber strap-down inertial measurement unit has the advantages of small size, light weight and easiness in processing and maintenance, implements full-solid and full-closed design of the inertial measurement unit and is particularly applicable to the harsh environments such as the underground environment and the like.

Description

A kind of positioning and directing instrument fiber strapdown Inertial Measurement Unit for coal industry
Technical field
The present invention relates to a kind of positioning and directing instrument fiber strapdown Inertial Measurement Unit for coal industry, be to utilize pedestal to determine the coordinate relation of the required part of positioning and directing instrument mounted thereto, belong to coal industry gas pumping drilling machine positioning and directing instrument technical field.
Background technology
For gaseous mine, must mine again by first mash gas extraction.This just requires in a large amount of gas pumping hole of underground construction, for guaranteeing high gas pumping rate, requires construction drill to carry out drilling operation according to position angle and the angle of pitch of design in advance.So must measure the attitude information of rig, to guarantee that rig attitude finally adjusts to position angle and the angle of pitch of design in advance.At present, the definite of rig position angle, known down-hole, the angle of pitch is to lean on the mode of manual measurement to complete, and it determines the attitude information of down-hole rig by means of the position angle in tunnel itself by the method for artificial projection and dimensional measurement.The method shortcoming of this manual measurement is obvious: expend a large amount of manpowers, Measuring Time is long, measuring error is large, be difficult to meet the actual requirement of accurately measuring fast.
Positioning and directing instrument feature based on strap down inertial navigation technology is to only depend on instrument self can automatically measure the attitude angle of carrier without any need for external information, can be applicable to well coal mine industry.But when design strap down inertial navigation unit, need make its assembly (gyroscope and accelerometer) have strict orthogonal space relation.
Summary of the invention
To the object of the invention is in order addressing the above problem, to propose a kind of positioning and directing instrument fiber strapdown Inertial Measurement Unit for coal industry.
A positioning and directing instrument fiber strapdown Inertial Measurement Unit for coal industry, comprises Inertial Measurement Unit pedestal, three axis optical fibre gyro combination, three axis accelerometer combination, shell combination;
Inertial Measurement Unit pedestal comprises base plate, sidewall, mounting jaw;
Side wall ring is around being fixed on base plate surrounding, base plate is fixedly connected with four mounting jaws, the outside surrounding of sidewall is processed with for the fixing screw hole of Inertial Measurement Unit shell, four mounting jaws have formed the base plate installed surface of whole Inertial Measurement Unit together with base plate, base plate afterbody outside is provided with two side direction base plate reference fields, the base plate of pedestal front side is provided with three axis accelerometer combined horizontal benchmark, the base plate of rear side and middle-end is provided with three axis optical fibre gyro combined horizontal benchmark, pedestal front side wall is provided with three axis accelerometer combination vertical benchmark, rear wall is provided with three axis optical fibre gyro combination vertical benchmark,
Three axis optical fibre gyro combination has comprised IMU support, optical fibre gyro sensing ring, the integrated processing module of optical fibre gyro;
IMU support is provided with the installed surface of installing optical fibres gyro sensing ring and the integrated processing module of optical fibre gyro, bottom and side are provided with three axis optical fibre gyro combined horizontal positioning reference plane and lateral register reference field, for coordinating with pedestal three axis optical fibre gyro combined horizontal benchmark and three axis optical fibre gyro combination vertical benchmark, employing inclined-plane, IMU support top designed arc-shaped appearance; Three optical fibre gyro sensing rings are separately fixed on the installed surface of IMU support, and three optical fibre gyro sensing rings are arranged to orthogonal space relation according to the reference for installation of IMU support, have jointly formed the measurement coordinate system of Inertial Measurement Unit; The integrated processing module of optical fibre gyro is fixed on the installed surface of IMU support, and the integrated processing module of optical fibre gyro is processed light path and the circuit signal of three optical fibre gyro sensing rings;
Three axis accelerometer combination comprises accelerometer and Jia Biao support;
Three accelerometer quadrature arrangement, are fixed on and add on table support; Add table support bottom surface and side and be provided with three axis accelerometer combined horizontal positioning reference plane and lateral register reference field, for coordinating with the three axis accelerometer combination vertical benchmark of pedestal three axis accelerometer combined horizontal benchmark, by base level benchmark, vertical reference, coordinate with horizontal location reference field and the lateral register reference field of three axis optical fibre gyro combination, three axis accelerometer combination, guarantee that combination has consistent measurement coordinate system with three axis optical fibre gyro in three axis accelerometer combination;
Shell module comprises shell, electric connector, computing machine plate;
Shell is provided with screw hole, for coordinating with the screw hole of Inertial Measurement Unit pedestal sidewall, computing machine plate is fixed on enclosure by circuit board pillar, electric connector is fixed on enclosure, the collection of computing machine plate is also processed the signal of strap down inertial navigation unit, and computing machine plate is realized the data interaction with external control system by electric connector.
The invention has the advantages that:
Positioning and directing instrument Inertial Measurement Unit of the present invention, its main sensitive element has been realized modular design and layout, there is volume little, lightweight, the advantage that is easy to processing and safeguards, and realized all solid state and totally-enclosed design of Inertial Measurement Unit, be particularly useful for the application of the rugged surroundings such as down-hole.
Accompanying drawing explanation
Fig. 1 positioning and directing instrument fiber strapdown Inertial Measurement Unit forms;
Fig. 2 Inertial Measurement Unit pedestal;
Fig. 3 Inertial Measurement Unit pedestal vertical view;
The combination of Fig. 4 three axis optical fibre gyro;
The combination of Fig. 5 three axis accelerometer;
The combination of Fig. 6 shell.
In figure:
Figure BDA0000411778130000031
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
The present invention is a kind of positioning and directing instrument fiber strapdown Inertial Measurement Unit for coal industry, and described Inertial Measurement Unit consists of " optical fibre gyro+quartz flexible accelerometer ", adopts modular design;
As shown in Figure 1, Inertial Measurement Unit comprises Inertial Measurement Unit pedestal 1, three axis optical fibre gyro combination 2, three axis accelerometer combination 3, shell combination 4.
As shown in Figure 2 and Figure 3, the rectangular box-structure that pedestal is opening, comprises base plate 101, sidewall 102, mounting jaw 103 to Inertial Measurement Unit pedestal 1;
Sidewall 102 is around being fixed on base plate 101 surroundings, and base plate 101 is fixedly connected with four mounting jaws 103;
Sidewall 102 has certain altitude, can improve the rigidity of whole pedestal, and the outside surrounding of sidewall 102 is processed with for the fixing screw hole 110 of Inertial Measurement Unit shell 4, and can realize the sealing to whole measuring unit after shell 4 assemblings.
Four mounting jaw 103 bottoms, through finishing, have formed the base plate installed surface 104 of whole Inertial Measurement Unit together with base plate 101;
Base plate 101 afterbody outsides are provided with two side direction base plate reference fields 105, and base plate installed surface 104 has been realized the benchmark transmission of measuring unit orthogonal coordinate system to the outside installed surface of positioning and directing instrument jointly with base plate reference field 105.
The base plate 101 of pedestal front side is provided with three axis accelerometer combined horizontal benchmark 106, for the level reference that fixedly three axis accelerometer combines, the base plate 101 of rear side and middle-end is provided with three axis optical fibre gyro combined horizontal benchmark 107, for the level reference that fixedly three axis optical fibre gyro combines;
Pedestal front side wall 102 is provided with three axis accelerometer combination vertical benchmark 108, and for the orientation of three axis accelerometer combination, rear wall 102 is provided with three axis optical fibre gyro combination vertical benchmark 109, for the orientation of three axis optical fibre gyro combination;
Level reference has guaranteed that with vertical reference face combination has three consistent axle orthogonal measuring coordinate systems after installing with three axis optical fibre gyro in three axis accelerometer combination.
Three axis optical fibre gyro combination 2 as shown in Figure 4, has comprised IMU support 201, optical fibre gyro sensing ring 202, the integrated processing module 203 of optical fibre gyro;
IMU support 201 is space frame structure, which is provided with the installed surface of installing optical fibres gyro sensing ring 202 and the integrated processing module 203 of optical fibre gyro, bottom and side are provided with three axis optical fibre gyro and combine 2 horizontal location reference fields and lateral register reference field, for coordinating with pedestal three axis optical fibre gyro combined horizontal benchmark 107 and three axis optical fibre gyro combination vertical benchmark 109, and then three axis optical fibre gyro combination 2 is fixed on pedestal 1.IMU support 201 employing inclined-plane, top designed arc-shaped appearances, the tail fiber disc that is conducive to light path around, there is the advantage lightweight, rigidity is large.
Three optical fibre gyro sensing rings 202 are separately fixed on the installed surface of IMU support 201, and three optical fibre gyro sensing rings 202 are arranged to orthogonal space relation according to the reference for installation of IMU support 201, have jointly formed the measurement coordinate system of Inertial Measurement Unit;
The integrated processing module 203 of optical fibre gyro is fixed on the installed surface of IMU support 201, and the integrated processing module 203 of optical fibre gyro is processed light path and the circuit signal of three optical fibre gyro sensing rings 202, has advantages of that integrated level is high, low in energy consumption, compact conformation;
As shown in Figure 5, three axis accelerometer combination 3 is regular rectangular structure, comprises accelerometer 301 and Jia Biao support 302 in three axis accelerometer combination 3;
Three accelerometer 301 quadrature arrangement, are fixed on and add on table support 302.
Adding table support 302 bottom surfaces and side is provided with three axis accelerometer and combines 3 horizontal location reference fields and lateral register reference field, for coordinating with the three axis accelerometer combination vertical benchmark 108 of pedestal three axis accelerometer combined horizontal benchmark 106, and then three axis accelerometer combination 3 is fixed on pedestal 1.
By pedestal 1 horizontal reference, vertical reference, coordinate with horizontal location reference field and the lateral register reference field of three axis optical fibre gyro combination 2, three axis accelerometer combination 3, guaranteed that three axis accelerometer combination 3 has consistent measurement coordinate system with three axis optical fibre gyro combination 2.
Shell module 4 as shown in Figure 5, comprises shell 401, electric connector 404, computing machine plate 402;
Shell 401 is thin walled aperture box-structure, and pedestal 1 cooperation can realize the sealing to Inertial Measurement Unit; Shell 401 is provided with screw hole, for coordinating with the screw hole 110 of Inertial Measurement Unit pedestal 1 sidewall 102, by bolt, connects;
Computing machine plate 402 is fixed on shell 401 inside by circuit board pillar 403, and electric connector 404 is fixed on shell 401 inside, and above-mentioned fixed form makes full use of the inner space of described positioning and directing instrument Inertial Measurement Unit.
Computing machine plate 402 gathers and processes the signal of strap down inertial navigation unit, and computing machine plate 402 is the data interaction with external control system by electric connector 404 realizations.

Claims (1)

1. for a positioning and directing instrument fiber strapdown Inertial Measurement Unit for coal industry, comprise Inertial Measurement Unit pedestal, three axis optical fibre gyro combination, three axis accelerometer combination, shell combination;
Inertial Measurement Unit pedestal comprises base plate, sidewall, mounting jaw;
Side wall ring is around being fixed on base plate surrounding, base plate is fixedly connected with four mounting jaws, the outside surrounding of sidewall is processed with for the fixing screw hole of Inertial Measurement Unit shell, four mounting jaws have formed the base plate installed surface of whole Inertial Measurement Unit together with base plate, base plate afterbody outside is provided with two side direction base plate reference fields, the base plate of pedestal front side is provided with three axis accelerometer combined horizontal benchmark, the base plate of rear side and middle-end is provided with three axis optical fibre gyro combined horizontal benchmark, pedestal front side wall is provided with three axis accelerometer combination vertical benchmark, rear wall is provided with three axis optical fibre gyro combination vertical benchmark,
Three axis optical fibre gyro combination has comprised IMU support, optical fibre gyro sensing ring, the integrated processing module of optical fibre gyro;
IMU support is provided with the installed surface of installing optical fibres gyro sensing ring and the integrated processing module of optical fibre gyro, bottom and side are provided with three axis optical fibre gyro combined horizontal positioning reference plane and lateral register reference field, for coordinating with pedestal three axis optical fibre gyro combined horizontal benchmark and three axis optical fibre gyro combination vertical benchmark, employing inclined-plane, IMU support top designed arc-shaped appearance; Three optical fibre gyro sensing rings are separately fixed on the installed surface of IMU support, and three optical fibre gyro sensing rings are arranged to orthogonal space relation according to the reference for installation of IMU support, have jointly formed the measurement coordinate system of Inertial Measurement Unit; The integrated processing module of optical fibre gyro is fixed on the installed surface of IMU support, and the integrated processing module of optical fibre gyro is processed light path and the circuit signal of three optical fibre gyro sensing rings;
Three axis accelerometer combination comprises accelerometer and Jia Biao support;
Three accelerometer quadrature arrangement, are fixed on and add on table support; Add table support bottom surface and side and be provided with three axis accelerometer combined horizontal positioning reference plane and lateral register reference field, for coordinating with the three axis accelerometer combination vertical benchmark of pedestal three axis accelerometer combined horizontal benchmark, by base level benchmark, vertical reference, coordinate with horizontal location reference field and the lateral register reference field of three axis optical fibre gyro combination, three axis accelerometer combination, guarantee that combination has consistent measurement coordinate system with three axis optical fibre gyro in three axis accelerometer combination;
Shell module comprises shell, electric connector, computing machine plate;
Shell is provided with screw hole, for coordinating with the screw hole of Inertial Measurement Unit pedestal sidewall, computing machine plate is fixed on enclosure by circuit board pillar, electric connector is fixed on enclosure, the collection of computing machine plate is also processed the signal of strap down inertial navigation unit, and computing machine plate is realized the data interaction with external control system by electric connector.
CN201310557704.4A 2013-11-11 2013-11-11 Positioning and orienting instrument optical fiber strap-down inertial measurement unit for coal industry Pending CN103591962A (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104653173A (en) * 2014-12-31 2015-05-27 西安中星测控有限公司 Drill attitude measuring instrument and drilling direction adjustment method
CN105318875A (en) * 2014-07-31 2016-02-10 中国矿业大学 Backpack-type down-hole intelligent measuring device of coal mining quantity and measuring method of device
CN105606200A (en) * 2014-10-29 2016-05-25 北京强度环境研究所 Three-axial vibration sensor structure
CN108489488A (en) * 2018-06-26 2018-09-04 天津职业技术师范大学 A kind of strap-down inertial navigation system support device
CN111337025A (en) * 2020-04-28 2020-06-26 中国人民解放军国防科技大学 Positioning and orientating instrument hole positioning method suitable for long-distance horizontal core drilling machine
CN111521179A (en) * 2020-04-28 2020-08-11 中国人民解放军国防科技大学 Drilling positioning director hole positioning method based on self-detection of traveling speed
CN111521178A (en) * 2020-04-28 2020-08-11 中国人民解放军国防科技大学 Drilling positioning director hole positioning method based on pipe length constraint
CN114234965A (en) * 2021-11-19 2022-03-25 贵州航天凯山石油仪器有限公司 Method for miniaturizing measuring device

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CN101349564A (en) * 2008-06-13 2009-01-21 北京航空航天大学 Inertial measurement apparatus
CN101922938A (en) * 2010-07-14 2010-12-22 北京航空航天大学 High-precision laser gyroscope inertia measurement system for POS
CN102636164A (en) * 2012-04-18 2012-08-15 北京航空航天大学 Fiber-optic gyroscope IMU (inertial measurement unit) combination for high-precision strap-down systems

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101349564A (en) * 2008-06-13 2009-01-21 北京航空航天大学 Inertial measurement apparatus
CN101922938A (en) * 2010-07-14 2010-12-22 北京航空航天大学 High-precision laser gyroscope inertia measurement system for POS
CN102636164A (en) * 2012-04-18 2012-08-15 北京航空航天大学 Fiber-optic gyroscope IMU (inertial measurement unit) combination for high-precision strap-down systems

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105318875A (en) * 2014-07-31 2016-02-10 中国矿业大学 Backpack-type down-hole intelligent measuring device of coal mining quantity and measuring method of device
CN105606200A (en) * 2014-10-29 2016-05-25 北京强度环境研究所 Three-axial vibration sensor structure
CN105606200B (en) * 2014-10-29 2018-08-21 北京强度环境研究所 A kind of three-axial vibration sensor structure
CN104653173A (en) * 2014-12-31 2015-05-27 西安中星测控有限公司 Drill attitude measuring instrument and drilling direction adjustment method
CN104653173B (en) * 2014-12-31 2017-10-27 西安中星测控有限公司 A kind of rig attitude measurement instrument and bore direction adjusting method
CN108489488A (en) * 2018-06-26 2018-09-04 天津职业技术师范大学 A kind of strap-down inertial navigation system support device
CN111337025A (en) * 2020-04-28 2020-06-26 中国人民解放军国防科技大学 Positioning and orientating instrument hole positioning method suitable for long-distance horizontal core drilling machine
CN111521179A (en) * 2020-04-28 2020-08-11 中国人民解放军国防科技大学 Drilling positioning director hole positioning method based on self-detection of traveling speed
CN111521178A (en) * 2020-04-28 2020-08-11 中国人民解放军国防科技大学 Drilling positioning director hole positioning method based on pipe length constraint
CN111521178B (en) * 2020-04-28 2021-01-15 中国人民解放军国防科技大学 Drilling positioning director hole positioning method based on pipe length constraint
CN111521179B (en) * 2020-04-28 2021-01-15 中国人民解放军国防科技大学 Drilling positioning director hole positioning method based on self-detection of traveling speed
CN114234965A (en) * 2021-11-19 2022-03-25 贵州航天凯山石油仪器有限公司 Method for miniaturizing measuring device

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Application publication date: 20140219