CN111337025A - Positioning and orientating instrument hole positioning method suitable for long-distance horizontal core drilling machine - Google Patents

Positioning and orientating instrument hole positioning method suitable for long-distance horizontal core drilling machine Download PDF

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CN111337025A
CN111337025A CN202010349576.4A CN202010349576A CN111337025A CN 111337025 A CN111337025 A CN 111337025A CN 202010349576 A CN202010349576 A CN 202010349576A CN 111337025 A CN111337025 A CN 111337025A
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王林
张永健
高春峰
罗晖
袁保伦
魏国
李耿
樊振方
熊振宇
周盟孟
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12Navigation; 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
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    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21BEARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00Survey of boreholes or wells
    • E21B47/09Locating or determining the position of objects in boreholes or wells, e.g. the position of an extending arm; Identifying the free or blocked portions of pipes
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    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract

The invention belongs to the field of geological exploration and discloses a positioning and orientating instrument hole positioning method suitable for a long-distance horizontal coring drilling machine. The invention combines the working characteristics of a long-distance horizontal coring drilling machine, reasonably plans the working mode of a coring device, fully utilizes all the measurement data stored by a positioning orientation instrument to construct a reverse measurement data sequence, carries out forward and reverse autonomous navigation positioning based on an incomplete constraint Kalman filter, combines zero-speed correction to inhibit and correct positioning errors, utilizes the difference complementarity of the forward and reverse autonomous navigation positioning error characteristics, and takes an average positioning result as a drilling path track to improve the positioning precision. The method can meet the requirement of geological exploration in the plateau alpine region, and provides powerful support for comprehensively and accurately mastering the geological information along the railway in the plateau alpine region.

Description

适用于长距离水平取芯钻机的定位定向仪孔内定位方法In-hole positioning method of positioning and orientation instrument suitable for long-distance horizontal core drilling rigs

技术领域technical field

本发明属于地质勘探领域,涉及勘探过程中取芯钻机的孔内定位方法,特别涉及适用于长距离水平取芯钻机的定位定向仪孔内定位方法。The invention belongs to the field of geological exploration, and relates to an in-hole positioning method of a core drilling machine during exploration, in particular to a positioning and orientation instrument in-hole positioning method suitable for a long-distance horizontal core drilling machine.

背景技术Background technique

川藏铁路是我国境内连接四川省与西藏自治区的快速铁路,施工过程中需要面对崇山峻岭、地形高差、复杂地质等建设难题,建设难度极大。为了消除地形高差,需要更多的采用高桥、隧道,使得川藏铁路的全线桥隧比达80%以上。为了确保施工质量,在隧道施工过程中,需要全面、准确的掌握沿线的地质信息,然而受高原高寒地区恶劣地面条件的限制,一般的竖向探测无法实施,不能满足高原高寒地区地质探测需求。The Sichuan-Tibet Railway is a high-speed railway connecting Sichuan Province and the Tibet Autonomous Region in my country. During the construction process, it needs to face construction problems such as mountains and mountains, terrain height difference, complex geology, etc., and the construction is extremely difficult. In order to eliminate the terrain height difference, it is necessary to use more high bridges and tunnels, so that the bridge-to-tunnel ratio of the whole line of the Sichuan-Tibet Railway is over 80%. In order to ensure the construction quality, during the tunnel construction process, it is necessary to comprehensively and accurately grasp the geological information along the line. However, due to the limitation of the harsh ground conditions in the plateau and alpine regions, general vertical detection cannot be implemented, which cannot meet the geological exploration needs of the plateau and alpine regions.

长距离水平取芯钻机是一种适用于水平方向快速地质钻探、长距离水平取芯的装备,其能够满足铁路、公路、水利、矿山等领域各种岩石隧道施工的长距离地质取芯钻探,对于高原高寒地区铁路的建设具有十分重要的意义。为了精准的控制钻进路径,满足大埋深、长距离地质取芯钻探的需求,需要在孔内对水平取芯钻机进行精准定位定向,为此,长距离水平取芯钻机需要同时配置定位定向仪。定位定向仪包含惯性测量单元,由惯性测量单元计算输出水平取芯钻机的位置信息,进而对钻进路径进行调整和控制。然而,长距离水平钻探情况下,孔内无外界信息辅助时,惯性测量单元的定位误差随着工作时间的延长将不断增大,影响钻进路径的控制精度。Long-distance horizontal coring drilling rig is a kind of equipment suitable for rapid geological drilling in horizontal direction and long-distance horizontal coring. It is of great significance for the construction of railways in the plateau and alpine regions. In order to accurately control the drilling path and meet the needs of large buried depth and long-distance geological core drilling, it is necessary to accurately locate and orient the horizontal core drilling rig in the hole. Therefore, the long-distance horizontal core drilling rig needs to be configured with positioning and orientation at the same time. instrument. The positioning and orientation instrument includes an inertial measurement unit, which calculates and outputs the position information of the horizontal core drilling rig, and then adjusts and controls the drilling path. However, in the case of long-distance horizontal drilling, when there is no external information in the hole to assist, the positioning error of the inertial measurement unit will continue to increase with the extension of the working time, which affects the control accuracy of the drilling path.

因此,针对高原高寒地区地质勘探的需求,需要研究适用于长距离水平取芯钻机的定位定向仪孔内定位方法,结合长距离水平取芯钻机的工作特点,实现无外界信息辅助情况下长距离水平取芯钻机的孔内精确定位,进而提高钻进路径的控制精度。Therefore, in view of the needs of geological exploration in the plateau and alpine regions, it is necessary to study the positioning method of the positioning directional instrument in the hole suitable for the long-distance horizontal core drilling rig. The horizontal core drilling rig can be precisely positioned in the hole, thereby improving the control accuracy of the drilling path.

发明内容SUMMARY OF THE INVENTION

本发明要解决的技术问题就在于:结合长距离水平取芯钻机的工作特点,合理规划取芯器的工作模式,充分利用定位定向仪保存的全部测量数据,实现无外界信息辅助情况下长距离水平取芯钻机的孔内精确定位,进而提高钻进路径的控制精度,满足高原高寒地区地质勘探的需求。The technical problem to be solved by the present invention is: combining the working characteristics of the long-distance horizontal core drilling rig, rationally plan the working mode of the core drilling rig, make full use of all the measurement data saved by the positioning and orienting instrument, and realize the long distance without external information assistance. The horizontal core drilling rig can accurately locate the hole, thereby improving the control accuracy of the drilling path and meeting the needs of geological exploration in the plateau and alpine regions.

为解决上述技术问题,本发明提出的解决方案为:In order to solve the above-mentioned technical problems, the solution proposed by the present invention is:

适用于长距离水平取芯钻机的定位定向仪孔内定位方法,包括以下步骤:The positioning method in the hole of the positioning and orientation instrument suitable for the long-distance horizontal core drilling machine includes the following steps:

(1)将定位定向仪安装到取芯器上,并放置于取芯钻机载车的基座上,向定位定向仪装订初始位置信息和初始速度信息,装订完成后定位定向仪静止15~25分钟,并进行初始自对准,获得初始姿态信息,定位定向仪要在线保存惯性测量单元测量得到的角增量信息和速度增量信息;定位定向仪完成初始自对准后,基于非完整约束卡尔曼滤波器进行正向自主导航定位;其中,非完整约束卡尔曼滤波器按照如下步骤设计:(1) Install the positioning and directional instrument on the coring device, and place it on the base of the core drilling rig vehicle, and bind the initial position information and initial speed information to the positioning and directional instrument. minutes, and perform initial self-alignment to obtain initial attitude information. The positioning and orientation instrument should save the angular increment information and velocity increment information measured by the inertial measurement unit online; after the positioning and orientation instrument completes the initial self-alignment, based on the non-holonomic constraints The Kalman filter performs forward autonomous navigation and positioning; among them, the nonholonomic constrained Kalman filter is designed according to the following steps:

(1.1)以姿态误差φn、速度误差δvn、位置误差δpn、陀螺漂移εb、加速度计零偏

Figure BDA00024713722900000213
定位定向仪惯性测量单元的安装误差η为系统状态x(t),分别确定姿态误差、速度误差、陀螺漂移、加速度计零偏、安装误差的微分方程如下:(1.1) Take attitude error φ n , velocity error δv n , position error δp n , gyro drift ε b , accelerometer bias
Figure BDA00024713722900000213
The installation error η of the inertial measurement unit of the positioning and orientation instrument is the system state x(t). The differential equations for determining the attitude error, velocity error, gyro drift, accelerometer bias, and installation error are as follows:

Figure BDA0002471372290000021
Figure BDA0002471372290000021

其中,

Figure BDA0002471372290000022
表示导航坐标系n相对于惯性坐标系i的旋转角速度,
Figure BDA0002471372290000023
表示载体坐标系b与导航坐标系n之间的姿态矩阵,fn表示导航坐标系下表示的比力,
Figure BDA0002471372290000024
表示地球自转角速度,
Figure BDA0002471372290000025
表示转移角速度,vn表示速度,
Figure BDA0002471372290000026
分别表示导航坐标系旋转角速度误差量、地球自转角速度误差量、转移角速度误差量,
Figure BDA0002471372290000027
表示陀螺组件测量误差,
Figure BDA0002471372290000028
表示加速度计组件测量误差,wg、wa分别表示陀螺组件测量噪声、加速度计组件测量噪声,η=[ηθ ηΨ]T由俯仰角安装误差ηθ及航向角安装误差ηΨ构成;in,
Figure BDA0002471372290000022
represents the rotational angular velocity of the navigation coordinate system n relative to the inertial coordinate system i,
Figure BDA0002471372290000023
represents the attitude matrix between the carrier coordinate system b and the navigation coordinate system n, f n represents the specific force expressed in the navigation coordinate system,
Figure BDA0002471372290000024
represents the angular velocity of the Earth's rotation,
Figure BDA0002471372290000025
represents the transfer angular velocity, v n represents the velocity,
Figure BDA0002471372290000026
respectively represent the rotation angular velocity error of the navigation coordinate system, the earth's rotation angular velocity error, and the transfer angular velocity error,
Figure BDA0002471372290000027
represents the measurement error of the gyro component,
Figure BDA0002471372290000028
represents the measurement error of the accelerometer component, w g and w a represent the measurement noise of the gyro component and the measurement noise of the accelerometer component, respectively, η=[η θ η Ψ ] T is composed of the pitch angle installation error η θ and the heading angle installation error η Ψ ;

(1.2)根据步骤(1.1)中确定的姿态误差、速度误差、位置误差、陀螺漂移、加速度计零偏、安装误差微分方程,构建系统状态方程如下:(1.2) According to the differential equations of attitude error, velocity error, position error, gyro drift, accelerometer bias, and installation error determined in step (1.1), the system state equation is constructed as follows:

Figure BDA0002471372290000029
Figure BDA0002471372290000029

其中,

Figure BDA00024713722900000210
表示系统状态矩阵;in,
Figure BDA00024713722900000210
Represents the system state matrix;

Figure BDA00024713722900000211
Figure BDA00024713722900000211

Figure BDA00024713722900000212
Figure BDA00024713722900000212

Figure BDA0002471372290000031
Figure BDA0002471372290000031

Figure BDA0002471372290000032
Figure BDA0002471372290000032

式中,vE、vN、vU分别表示东向、北向、垂向速度,L表示当地纬度,h表示当地高度,RE、RN分别表示卯酉圈半径、子午圈半径,ωie表示地球自转角速度模值;In the formula, v E , v N , and v U represent the easting, northing, and vertical velocities, respectively, L represents the local latitude, h represents the local altitude, R E , R N represent the radius of the unitary circle and the radius of the meridian circle, respectively, ω ie Represents the modulus value of the angular velocity of the Earth's rotation;

Figure BDA0002471372290000033
表示系统噪声矩阵;
Figure BDA0002471372290000033
represents the system noise matrix;

w(t)=[wg wa]T表示系统噪声;w(t)=[w g w a ] T represents system noise;

(1.3)取芯器沿钻进路径推进时,其侧向速度及垂向速度为零,以侧向速度误差δvx及垂向速度误差δvz构建非完整约束观测量z(t)=[δvx δvz]T,并确定观测方程;(1.3) When the corer advances along the drilling path, its lateral velocity and vertical velocity are zero, and the nonholonomic constrained observation z ( t )=[ δv x δv z ] T , and determine the observation equation;

(2)由取芯钻机载车将取芯器推送至钻孔处并驻留,取芯器在钻孔处驻留10~20秒钟,并完成定位定向仪的第一次零速修正,然后采用高压气推的方式将取芯器沿着钻进路径推进,定位定向仪在线保存惯性测量单元测量得到的角增量信息和速度增量信息;(2) The corer will be pushed to the drilled hole by the core drilling rig truck and parked. The corer will stay at the drilled hole for 10 to 20 seconds, and the first zero-speed correction of the positioning and orientation instrument will be completed. Then, the corer is pushed along the drilling path by means of high-pressure gas push, and the positioning and orientation instrument saves the angular increment information and velocity increment information measured by the inertial measurement unit online;

(3)当取芯器推进至钻进路径末端的钻机处,由取芯器完成取芯作业,然后取芯器在钻进路径末端再次驻留10~20秒钟,并完成定位定向仪的第二次零速修正;此外,定位定向仪要在线保存惯性测量单元测量得到的角增量信息和速度增量信息;(3) When the corer is advanced to the drilling rig at the end of the drilling path, the corer completes the coring operation, and then the corer stays at the end of the drilling path again for 10-20 seconds, and completes the positioning and orientation instrument. The second zero-speed correction; in addition, the positioning and orientation instrument should save the angular increment information and speed increment information measured by the inertial measurement unit online;

(4)第二次零速修正完成后,通过卷扬机将取芯器从孔内拖出,当取芯器被拖至钻孔处时再次驻留10~20秒钟,并完成定位定向仪的第三次零速修正;第三次零速修正完成后,将取芯器拖动至取芯钻机载车的基座上,再次静止15~25分钟;此外,定位定向仪要在线保存惯性测量单元测量得到的角增量信息和速度增量信息;(4) After the second zero-speed correction is completed, the core remover is pulled out of the hole by the hoist. When the core remover is dragged to the drill hole, it stays for 10 to 20 seconds again, and the positioning and orientation instrument is completed. The third zero-speed correction; after the third zero-speed correction is completed, drag the coring device to the base of the core drilling rig vehicle, and stand still for 15 to 25 minutes again; in addition, the positioning and orientation instrument should save the inertial measurement online Angular increment information and velocity increment information obtained by unit measurement;

(5)将陀螺组件测量角速度

Figure BDA0002471372290000034
加速度计组件测量比力fb及地球自转角速度
Figure BDA0002471372290000035
取反,并按照从后至前的时间顺序反转步骤(1)-(4)中保存的角增量信息、速度增量信息,构成逆向测量数据序列,并基于非完整约束卡尔曼滤波器进行逆向自主导航定位,其中,逆向导航解算如下式所述:(5) Measure the angular velocity of the gyro component
Figure BDA0002471372290000034
The accelerometer assembly measures the specific force f b and the angular velocity of the earth's rotation
Figure BDA0002471372290000035
Invert, and reverse the angular increment information and velocity increment information saved in steps (1)-(4) in the time sequence from back to front to form a reverse measurement data sequence, and based on the nonholonomic constrained Kalman filter Perform reverse autonomous navigation and positioning, where the reverse navigation solution is described as follows:

Figure BDA0002471372290000041
Figure BDA0002471372290000041

Figure BDA0002471372290000042
Figure BDA0002471372290000042

Figure BDA0002471372290000043
Figure BDA0002471372290000043

其中,in,

Figure BDA0002471372290000044
Figure BDA0002471372290000044

Figure BDA0002471372290000045
分别表示逆向时序d、d-1时刻的姿态矩阵,
Figure BDA0002471372290000046
分别表示逆向时序d、d-1时刻的速度,
Figure BDA0002471372290000047
分别表示逆向时序d、d-1时刻的位置,gn
Figure BDA0002471372290000048
分别表示正向解算、逆向解算当地重力加速度,I3表示三阶单位矩阵,△T表示采样间隔;
Figure BDA0002471372290000045
Represent the attitude matrices at the reverse time series d and d-1, respectively,
Figure BDA0002471372290000046
respectively represent the speed at the time of reverse sequence d and d-1,
Figure BDA0002471372290000047
Represent the positions of the reverse time series d and d-1, respectively, g n ,
Figure BDA0002471372290000048
Respectively represent the forward solution and reverse solution of the local gravitational acceleration, I 3 represents the third-order unit matrix, and △T represents the sampling interval;

(6)以时间对齐后的正向自主导航定位结果pn与逆向自主导航定位结果

Figure BDA0002471372290000049
的均值
Figure BDA00024713722900000410
作为平均定位,将取芯器推进段的定位结果作为钻进路径轨迹,并根据钻进路径轨迹计算其相对于设计路径的偏差,进而对钻进路径进行调整。(6) Use the time-aligned forward autonomous navigation and positioning results p n and reverse autonomous navigation and positioning results
Figure BDA0002471372290000049
mean of
Figure BDA00024713722900000410
As the average positioning, the positioning result of the advancing section of the corer is used as the drilling path trajectory, and the deviation from the design path is calculated according to the drilling path trajectory, and then the drilling path is adjusted.

进一步的,所述步骤(1.3)中观测方程的确定通过以下步骤实现:Further, the determination of the observation equation in the step (1.3) is achieved by the following steps:

(1.3.1)将定位定向仪速度输出投影到惯性测量单元坐标系m,按照如下方式:(1.3.1) Project the speed output of the positioning directional instrument to the inertial measurement unit coordinate system m, as follows:

Figure BDA00024713722900000411
Figure BDA00024713722900000411

其中,

Figure BDA00024713722900000412
表示定位定向仪速度输出在惯性测量单元坐标系m下的投影,vm表示真实的m坐标系下表示的定位定向仪速度,
Figure BDA00024713722900000413
表示载体坐标系b与惯性测量单元坐标系m之间的安装关系矩阵,ζ=[ηθ ηγ ηΨ]T表示安装误差角,
Figure BDA00024713722900000414
表示导航坐标系n与载体坐标系b之间的姿态矩阵;由于横滚角安装误差ηγ不会影响前向速度投影,将其赋值为0,即ηγ=0;in,
Figure BDA00024713722900000412
Represents the projection of the speed output of the positioning and orientation instrument in the inertial measurement unit coordinate system m, v m represents the positioning and orientation instrument speed expressed in the real m coordinate system,
Figure BDA00024713722900000413
represents the installation relationship matrix between the carrier coordinate system b and the inertial measurement unit coordinate system m, ζ=[η θ η γ η Ψ ] T represents the installation error angle,
Figure BDA00024713722900000414
Represents the attitude matrix between the navigation coordinate system n and the carrier coordinate system b; since the roll angle installation error η γ does not affect the forward velocity projection, it is assigned to 0, that is, η γ =0;

(1.3.2)以

Figure BDA00024713722900000415
的x、z分量作为非完整约束观测量z(t),构建观测方程如下:(1.3.2) with
Figure BDA00024713722900000415
The x and z components of , are used as the nonholonomic constraint observation z(t), and the observation equation is constructed as follows:

z(t)=H(t)x(t)+υ(t) (4)z(t)=H(t)x(t)+υ(t) (4)

其中,

Figure BDA00024713722900000416
且M1=[1 0 0],M3=[0 0 1],
Figure BDA00024713722900000417
υ(t)表示观测噪声。in,
Figure BDA00024713722900000416
and M 1 =[1 0 0], M 3 =[0 0 1],
Figure BDA00024713722900000417
υ(t) represents observation noise.

进一步的,所述步骤(2)中的零速修正按照如下步骤进行:Further, the zero-speed correction in the step (2) is carried out according to the following steps:

(2.1)定位定向仪根据角速度、速度信息自主检测到其零速状态,将前向速度误差δvy增广为观测量,零速状态下的观测量为zZUPT(t)=[δvxδvyδvz]T(2.1) The positioning and orientation instrument automatically detects its zero-speed state according to the angular velocity and speed information, and expands the forward speed error δv y into an observational quantity. The observational quantity in the zero-speed state is z ZUPT (t)=[δv x δv y δv z ] T ;

(2.2)以

Figure BDA0002471372290000052
的x、y、z分量作为零速状态下的观测量zZUPT(t),构建观测方程如下:(2.2) with
Figure BDA0002471372290000052
The x, y, and z components of z are taken as the observed quantity z ZUPT (t) in the zero-speed state, and the observation equation is constructed as follows:

zZUPT(t)=HZUPT(t)x(t)+μ(t) (5)z ZUPT (t)=H ZUPT (t)x(t)+μ(t) (5)

其中,

Figure BDA0002471372290000051
μ(t)表示观测噪声;in,
Figure BDA0002471372290000051
μ(t) represents observation noise;

(2.3)当定位定向仪处于零速状态时,卡尔曼滤波器观测方程由式(4)切换为(5),采用序贯处理的方式完成量测更新。(2.3) When the positioning and directional instrument is in the zero-speed state, the Kalman filter observation equation is switched from equation (4) to (5), and the measurement update is completed by sequential processing.

进一步的,所述步骤(5)中的逆向自主导航定位包括如下步骤:Further, the reverse autonomous navigation and positioning in the step (5) includes the following steps:

(5.1)利用逆向测量数据的第一个15~25分钟的静态阶段完成初始对准,获得初始姿态信息;(5.1) Use the static phase of the first 15-25 minutes of the reverse measurement data to complete the initial alignment and obtain the initial attitude information;

(5.2)按照步骤(1.1)-(1.3)所述的非完整约束卡尔曼滤波器进行逆向滤波,姿态误差方程、速度误差方程、位置误差方程、陀螺漂移、加速度零偏及定位定向仪惯性测量单元的安装误差的微分方程保持不变,观测方程也保持不变;(5.2) Perform reverse filtering according to the nonholonomic constrained Kalman filter described in steps (1.1)-(1.3), attitude error equation, velocity error equation, position error equation, gyro drift, acceleration bias and inertial measurement of positioning and orientation instrument The differential equation of the installation error of the unit remains unchanged, and the observation equation also remains unchanged;

(5.3)逆向自主导航定位过程中,当取芯器处于驻留状态时,按照步骤(2.1)-(2.3)所述零速修正方式进行误差校正。(5.3) During the process of reverse autonomous navigation and positioning, when the corer is in the resident state, perform error correction according to the zero-speed correction method described in steps (2.1)-(2.3).

进一步的,所述步骤(1)、(4)中取芯器在取芯钻机载车基座上的静止时长分别为15分钟。Further, in the steps (1) and (4), the stationary time of the corer on the car base of the core drill is 15 minutes respectively.

进一步的,所述步骤(1)、(4)中取芯器在取芯钻机载车基座上的静止时长分别为25分钟。Further, in the steps (1) and (4), the stationary time of the corer on the car base of the core drill is 25 minutes respectively.

进一步的,所述步骤(2)、(3)、(4)中取芯器在钻孔处及钻进路径末端的驻留时长分别为10秒。Further, in the steps (2), (3) and (4), the dwell time of the corer at the drilled hole and at the end of the drilling path is respectively 10 seconds.

进一步的,所述步骤(2)、(3)、(4)中取芯器在钻孔处及钻进路径末端的驻留时长分别为20秒。Further, in the steps (2), (3) and (4), the dwell time of the corer at the borehole and at the end of the drilling path is respectively 20 seconds.

进一步的,所述步骤(2)中采用高压液推的方式将取芯器沿着钻进路径推进。Further, in the step (2), a high-pressure hydraulic push method is used to push the corer along the drilling path.

进一步的,所述步骤(1.1)、(1.2)中的陀螺漂移、加速度计零偏状态采用反馈校正。Further, the gyro drift and the accelerometer bias state in the steps (1.1) and (1.2) are corrected by feedback.

进一步的,所述步骤(1.1)、(1.2)中的安装误差状态采用开环校正。Further, the installation error state in the steps (1.1) and (1.2) adopts open-loop correction.

进一步的,所述步骤(1)中惯性测量单元测量角增量信息和速度增量信息时其采样间隔不大于0.01s。Further, in the step (1), when the inertial measurement unit measures the angular increment information and the velocity increment information, the sampling interval is not greater than 0.01s.

与现有技术相比,本发明的优点在于:Compared with the prior art, the advantages of the present invention are:

(1)本发明结合长距离水平取芯钻机的工作特点,合理规划取芯器的工作模式,充分利用定位定向仪保存的全部测量数据,提高数据利用率,实现无外界信息辅助情况下长距离水平取芯钻机的孔内精确定位;(1) The present invention combines the working characteristics of the long-distance horizontal core drilling rig, rationally plans the working mode of the corer, makes full use of all the measurement data saved by the positioning and orientation instrument, improves the data utilization rate, and realizes long-distance without external information assistance. Precise positioning in the hole of the horizontal core drilling machine;

(2)本发明充分利用正向、逆向自主导航定位误差特性的差异互补性,以平均定位结果作为钻进路径轨迹,提高定位精度。(2) The present invention makes full use of the difference complementarity of the forward and reverse autonomous navigation positioning error characteristics, and uses the average positioning result as the drilling path trajectory to improve the positioning accuracy.

附图说明Description of drawings

图1为本发明方法的流程示意图;Fig. 1 is the schematic flow chart of the method of the present invention;

图2为本发明实施过程示意图;Fig. 2 is the schematic diagram of the implementation process of the present invention;

图3为本发明正逆向解算示意图;Fig. 3 is the forward and reverse solution schematic diagram of the present invention;

图4为本发明正逆向自主导航定位示意图。FIG. 4 is a schematic diagram of forward and reverse autonomous navigation and positioning according to the present invention.

具体实施方式Detailed ways

以下将结合说明书附图和具体实施例对本发明作进一步详细说明。The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

如图1所示,适用于长距离水平取芯钻机的定位定向仪孔内定位方法,通过结合长距离水平取芯钻机的工作特点,合理规划取芯器的工作模式,充分利用定位定向仪保存的全部测量数据,构建逆向测量数据序列,基于非完整约束卡尔曼滤波器进行正向、逆向自主导航定位,结合零速修正对定位误差进行抑制校正,并利用正向、逆向自主导航定位误差特性的差异互补性,以平均定位结果作为钻进路径轨迹,提高定位精度。As shown in Figure 1, the in-hole positioning method of the positioning and orientation instrument suitable for long-distance horizontal core drilling rigs, by combining the working characteristics of long-distance horizontal core drilling rigs, rationally plan the working mode of the corer, and make full use of the positioning and orientation instrument to save All the measurement data, construct the reverse measurement data sequence, carry out forward and reverse autonomous navigation and positioning based on the nonholonomic constrained Kalman filter, suppress and correct the positioning error combined with the zero-speed correction, and use the forward and reverse autonomous navigation and positioning error characteristics The difference complementarity, the average positioning result is used as the drilling path trajectory, and the positioning accuracy is improved.

如图2所示,结合具体应用实例,对本发明的具体流程进行说明:As shown in Figure 2, in conjunction with specific application examples, the specific flow of the present invention is described:

(1)将定位定向仪安装到取芯器上,并放置于取芯钻机载车的基座上,向定位定向仪装订初始位置信息和初始速度信息,装订完成后定位定向仪静止15~25分钟,并进行初始自对准,获得初始姿态信息,定位定向仪要在线保存惯性测量单元测量得到的角增量信息和速度增量信息;定位定向仪完成初始自对准后,基于非完整约束卡尔曼滤波器进行正向自主导航定位;其中,非完整约束卡尔曼滤波器按照如下步骤设计:(1) Install the positioning and directional instrument on the coring device, and place it on the base of the core drilling rig vehicle, and bind the initial position information and initial speed information to the positioning and directional instrument. minutes, and perform initial self-alignment to obtain initial attitude information. The positioning and orientation instrument should save the angular increment information and velocity increment information measured by the inertial measurement unit online; after the positioning and orientation instrument completes the initial self-alignment, based on the non-holonomic constraints The Kalman filter performs forward autonomous navigation and positioning; among them, the nonholonomic constrained Kalman filter is designed according to the following steps:

(1.1)以姿态误差φn、速度误差δvn、位置误差δpn、陀螺漂移εb、加速度计零偏

Figure BDA0002471372290000061
定位定向仪惯性测量单元的安装误差η为系统状态x(t),分别确定姿态误差、速度误差、陀螺漂移、加速度计零偏、安装误差的微分方程如下:(1.1) Take attitude error φ n , velocity error δv n , position error δp n , gyro drift ε b , accelerometer bias
Figure BDA0002471372290000061
The installation error η of the inertial measurement unit of the positioning and orientation instrument is the system state x(t). The differential equations for determining the attitude error, velocity error, gyro drift, accelerometer bias, and installation error are as follows:

Figure BDA0002471372290000062
Figure BDA0002471372290000062

其中,

Figure BDA0002471372290000063
表示导航坐标系n相对于惯性坐标系i的旋转角速度,
Figure BDA0002471372290000064
表示载体坐标系b与导航坐标系n之间的姿态矩阵,fn表示导航坐标系下表示的比力,
Figure BDA0002471372290000065
表示地球自转角速度,
Figure BDA0002471372290000066
表示转移角速度,vn表示速度,
Figure BDA0002471372290000067
分别表示导航坐标系旋转角速度误差量、地球自转角速度误差量、转移角速度误差量,
Figure BDA0002471372290000068
表示陀螺组件测量误差,
Figure BDA0002471372290000069
表示加速度计组件测量误差,wg、wa分别表示陀螺组件测量噪声、加速度计组件测量噪声,η=[ηθ ηΨ]T由俯仰角安装误差ηθ及航向角安装误差ηΨ构成;in,
Figure BDA0002471372290000063
represents the rotational angular velocity of the navigation coordinate system n relative to the inertial coordinate system i,
Figure BDA0002471372290000064
represents the attitude matrix between the carrier coordinate system b and the navigation coordinate system n, f n represents the specific force expressed in the navigation coordinate system,
Figure BDA0002471372290000065
represents the angular velocity of the Earth's rotation,
Figure BDA0002471372290000066
represents the transfer angular velocity, v n represents the velocity,
Figure BDA0002471372290000067
respectively represent the rotation angular velocity error of the navigation coordinate system, the earth's rotation angular velocity error, and the transfer angular velocity error,
Figure BDA0002471372290000068
represents the measurement error of the gyro component,
Figure BDA0002471372290000069
represents the measurement error of the accelerometer component, w g and w a represent the measurement noise of the gyro component and the measurement noise of the accelerometer component, respectively, η=[η θ η Ψ ] T is composed of the pitch angle installation error η θ and the heading angle installation error η Ψ ;

(1.2)根据步骤(1.1)中确定的姿态误差、速度误差、位置误差、陀螺漂移、加速度计零偏、安装误差微分方程,构建系统状态方程如下:(1.2) According to the differential equations of attitude error, velocity error, position error, gyro drift, accelerometer bias, and installation error determined in step (1.1), the system state equation is constructed as follows:

Figure BDA00024713722900000610
Figure BDA00024713722900000610

其中,

Figure BDA0002471372290000071
表示系统状态矩阵;in,
Figure BDA0002471372290000071
Represents the system state matrix;

Figure BDA0002471372290000072
Figure BDA0002471372290000072

Figure BDA0002471372290000073
Figure BDA0002471372290000073

Figure BDA0002471372290000074
Figure BDA0002471372290000074

Figure BDA0002471372290000075
Figure BDA0002471372290000075

式中,vE、vN、vU分别表示东向、北向、垂向速度,L表示当地纬度,h表示当地高度,RE、RN分别表示卯酉圈半径、子午圈半径,ωie表示地球自转角速度模值;In the formula, v E , v N , and v U represent the easting, northing, and vertical velocities, respectively, L represents the local latitude, h represents the local altitude, R E , R N represent the radius of the unitary circle and the radius of the meridian circle, respectively, ω ie Represents the modulus value of the angular velocity of the Earth's rotation;

Figure BDA0002471372290000076
表示系统噪声矩阵;
Figure BDA0002471372290000076
represents the system noise matrix;

w(t)=[wg wa]T表示系统噪声;w(t)=[w g w a ] T represents system noise;

(1.3)取芯器沿钻进路径推进时,其侧向速度及垂向速度为零,以侧向速度误差δvx及垂向速度误差δvz构建非完整约束观测量z(t)=[δvx δvz]T,并确定观测方程;(1.3) When the corer advances along the drilling path, its lateral velocity and vertical velocity are zero, and the nonholonomic constrained observation z ( t )=[ δv x δv z ] T , and determine the observation equation;

(2)由取芯钻机载车将取芯器推送至钻孔处并驻留,取芯器在钻孔处驻留10~20秒钟,并完成定位定向仪的第一次零速修正,然后采用高压气推的方式将取芯器沿着钻进路径推进,定位定向仪在线保存惯性测量单元测量得到的角增量信息和速度增量信息;(2) The corer will be pushed to the drilled hole by the core drilling rig truck and parked. The corer will stay at the drilled hole for 10 to 20 seconds, and the first zero-speed correction of the positioning and orientation instrument will be completed. Then, the corer is pushed along the drilling path by means of high-pressure gas push, and the positioning and orientation instrument saves the angular increment information and velocity increment information measured by the inertial measurement unit online;

(3)当取芯器推进至钻进路径末端的钻机处,由取芯器完成取芯作业,然后取芯器在钻进路径末端再次驻留10~20秒钟,并完成定位定向仪的第二次零速修正;此外,定位定向仪要在线保存惯性测量单元测量得到的角增量信息和速度增量信息;(3) When the corer is advanced to the drilling rig at the end of the drilling path, the corer completes the coring operation, and then the corer stays at the end of the drilling path again for 10-20 seconds, and completes the positioning and orientation instrument. The second zero-speed correction; in addition, the positioning and orientation instrument should save the angular increment information and speed increment information measured by the inertial measurement unit online;

(4)第二次零速修正完成后,通过卷扬机将取芯器从孔内拖出,当取芯器被拖至钻孔处时再次驻留10~20秒钟,并完成定位定向仪的第三次零速修正;第三次零速修正完成后,将取芯器拖动至取芯钻机载车的基座上,再次静止15~25分钟;此外,定位定向仪要在线保存惯性测量单元测量得到的角增量信息和速度增量信息;(4) After the second zero-speed correction is completed, the core remover is pulled out of the hole by the hoist. When the core remover is dragged to the drill hole, it stays for 10 to 20 seconds again, and the positioning and orientation instrument is completed. The third zero-speed correction; after the third zero-speed correction is completed, drag the coring device to the base of the core drilling rig vehicle, and stand still for 15 to 25 minutes again; in addition, the positioning and orientation instrument should save the inertial measurement online Angular increment information and velocity increment information obtained by unit measurement;

(5)如图3、图4所示,将陀螺组件测量角速度

Figure BDA0002471372290000081
加速度计组件测量比力fb及地球自转角速度
Figure BDA0002471372290000082
取反,并按照从后至前的时间顺序反转步骤(1)-(4)中保存的角增量信息、速度增量信息,构成逆向测量数据序列,并基于非完整约束卡尔曼滤波器进行逆向自主导航定位,其中,逆向导航解算如下式所述:(5) As shown in Figure 3 and Figure 4, measure the angular velocity of the gyro assembly
Figure BDA0002471372290000081
The accelerometer assembly measures the specific force f b and the angular velocity of the earth's rotation
Figure BDA0002471372290000082
Invert, and reverse the angular increment information and velocity increment information saved in steps (1)-(4) in the time sequence from back to front to form a reverse measurement data sequence, and based on the nonholonomic constrained Kalman filter Perform reverse autonomous navigation and positioning, where the reverse navigation solution is described as follows:

Figure BDA0002471372290000083
Figure BDA0002471372290000083

其中,in,

Figure BDA0002471372290000084
Figure BDA0002471372290000084

Figure BDA0002471372290000085
分别表示逆向时序d、d-1时刻的姿态矩阵,
Figure BDA0002471372290000086
分别表示逆向时序d、d-1时刻的速度,
Figure BDA0002471372290000087
分别表示逆向时序d、d-1时刻的位置,gn
Figure BDA0002471372290000088
分别表示正向解算、逆向解算当地重力加速度,I3表示三阶单位矩阵,△T表示采样间隔;
Figure BDA0002471372290000085
Represent the attitude matrices at the reverse time series d and d-1, respectively,
Figure BDA0002471372290000086
respectively represent the speed at the time of reverse sequence d and d-1,
Figure BDA0002471372290000087
Represent the positions of the reverse time series d and d-1, respectively, g n ,
Figure BDA0002471372290000088
Respectively represent the forward solution and reverse solution of the local gravitational acceleration, I 3 represents the third-order unit matrix, and △T represents the sampling interval;

(6)以时间对齐后的正向自主导航定位结果pn与逆向自主导航定位结果

Figure BDA0002471372290000089
的均值
Figure BDA00024713722900000810
作为平均定位,将取芯器推进段的定位结果作为钻进路径轨迹,并根据钻进路径轨迹计算其相对于设计路径的偏差,进而对钻进路径进行调整。(6) Use the time-aligned forward autonomous navigation and positioning results p n and reverse autonomous navigation and positioning results
Figure BDA0002471372290000089
mean of
Figure BDA00024713722900000810
As the average positioning, the positioning result of the advancing section of the corer is used as the drilling path trajectory, and the deviation from the design path is calculated according to the drilling path trajectory, and then the drilling path is adjusted.

进一步的,所述步骤(1.3)中观测方程的确定通过以下步骤实现:Further, the determination of the observation equation in the step (1.3) is achieved by the following steps:

(1.3.1)将定位定向仪速度输出投影到惯性测量单元坐标系m,按照如下方式:(1.3.1) Project the speed output of the positioning directional instrument to the inertial measurement unit coordinate system m, as follows:

Figure BDA00024713722900000811
Figure BDA00024713722900000811

其中,

Figure BDA00024713722900000812
表示定位定向仪速度输出在惯性测量单元坐标系m下的投影,vm表示真实的m坐标系下表示的定位定向仪速度,
Figure BDA00024713722900000813
表示载体坐标系b与惯性测量单元坐标系m之间的安装关系矩阵,ζ=[ηθ ηγ ηΨ]T表示安装误差角,
Figure BDA0002471372290000091
表示导航坐标系n与载体坐标系b之间的姿态矩阵;由于横滚角安装误差ηγ不会影响前向速度投影,将其赋值为0,即ηγ=0;in,
Figure BDA00024713722900000812
Represents the projection of the speed output of the positioning and orientation instrument in the inertial measurement unit coordinate system m, v m represents the positioning and orientation instrument speed expressed in the real m coordinate system,
Figure BDA00024713722900000813
represents the installation relationship matrix between the carrier coordinate system b and the inertial measurement unit coordinate system m, ζ=[η θ η γ η Ψ ] T represents the installation error angle,
Figure BDA0002471372290000091
Represents the attitude matrix between the navigation coordinate system n and the carrier coordinate system b; since the roll angle installation error η γ does not affect the forward velocity projection, it is assigned to 0, that is, η γ =0;

(1.3.2)以

Figure BDA0002471372290000092
的x、z分量作为非完整约束观测量z(t),构建观测方程如下:(1.3.2) with
Figure BDA0002471372290000092
The x and z components of , are used as the nonholonomic constraint observation z(t), and the observation equation is constructed as follows:

z(t)=H(t)x(t)+υ(t) (4)z(t)=H(t)x(t)+υ(t) (4)

其中,

Figure BDA0002471372290000093
且M1=[1 0 0],M3=[0 0 1],
Figure BDA0002471372290000094
υ(t)表示观测噪声。in,
Figure BDA0002471372290000093
and M 1 =[1 0 0], M 3 =[0 0 1],
Figure BDA0002471372290000094
υ(t) represents observation noise.

进一步的,所述步骤(2)中的零速修正按照如下步骤进行:Further, the zero-speed correction in the step (2) is carried out according to the following steps:

(2.1)定位定向仪根据角速度、速度信息自主检测到其零速状态,将前向速度误差δvy增广为观测量,零速状态下的观测量为zZUPT(t)=[δvx δvy δvz]T(2.1) The positioning and orientation instrument automatically detects its zero-speed state according to the angular velocity and speed information, and expands the forward speed error δv y into an observational quantity. The observational quantity in the zero-speed state is z ZUPT (t)=[δv x δv y δv z ] T ;

(2.2)以

Figure BDA0002471372290000095
的x、y、z分量作为零速状态下的观测量zZUPT(t),构建观测方程如下:(2.2) with
Figure BDA0002471372290000095
The x, y, and z components of z are taken as the observed quantity z ZUPT (t) in the zero-speed state, and the observation equation is constructed as follows:

zZUPT(t)=HZUPT(t)x(t)+μ(t) (5)z ZUPT (t)=H ZUPT (t)x(t)+μ(t) (5)

其中,

Figure BDA0002471372290000096
μ(t)表示观测噪声;in,
Figure BDA0002471372290000096
μ(t) represents observation noise;

(2.3)当定位定向仪处于零速状态时,卡尔曼滤波器观测方程由式(4)切换为(5),采用序贯处理的方式完成量测更新。(2.3) When the positioning and directional instrument is in the zero-speed state, the Kalman filter observation equation is switched from equation (4) to (5), and the measurement update is completed by sequential processing.

进一步的,所述步骤(5)中的逆向自主导航定位包括如下步骤:Further, the reverse autonomous navigation and positioning in the step (5) includes the following steps:

(5.1)利用逆向测量数据的第一个15~25分钟的静态阶段完成初始对准,获得初始姿态信息;(5.1) Use the static phase of the first 15-25 minutes of the reverse measurement data to complete the initial alignment and obtain the initial attitude information;

(5.2)按照步骤(1.1)-(1.3)所述的非完整约束卡尔曼滤波器进行逆向滤波,姿态误差方程、速度误差方程、位置误差方程、陀螺漂移、加速度零偏及定位定向仪惯性测量单元的安装误差的微分方程保持不变,观测方程也保持不变;(5.2) Perform reverse filtering according to the nonholonomic constrained Kalman filter described in steps (1.1)-(1.3), attitude error equation, velocity error equation, position error equation, gyro drift, acceleration bias and inertial measurement of positioning and orientation instrument The differential equation of the installation error of the unit remains unchanged, and the observation equation also remains unchanged;

(5.3)逆向自主导航定位过程中,当取芯器处于驻留状态时,按照步骤(2.1)-(2.3)所述零速修正方式进行误差校正。(5.3) During the process of reverse autonomous navigation and positioning, when the corer is in the resident state, perform error correction according to the zero-speed correction method described in steps (2.1)-(2.3).

进一步的,所述步骤(1)、(4)中取芯器在取芯钻机载车基座上的静止时长分别为15分钟。Further, in the steps (1) and (4), the stationary time of the corer on the car base of the core drill is 15 minutes respectively.

进一步的,所述步骤(1)、(4)中取芯器在取芯钻机载车基座上的静止时长分别为25分钟。Further, in the steps (1) and (4), the stationary time of the corer on the car base of the core drill is 25 minutes respectively.

进一步的,所述步骤(2)、(3)、(4)中取芯器在钻孔处及钻进路径末端的驻留时长分别为10秒。Further, in the steps (2), (3) and (4), the dwell time of the corer at the drilled hole and at the end of the drilling path is respectively 10 seconds.

进一步的,所述步骤(2)、(3)、(4)中取芯器在钻孔处及钻进路径末端的驻留时长分别为20秒。Further, in the steps (2), (3) and (4), the dwell time of the corer at the borehole and at the end of the drilling path is respectively 20 seconds.

进一步的,所述步骤(2)中采用高压液推的方式将取芯器沿着钻进路径推进。Further, in the step (2), a high-pressure hydraulic push method is used to push the corer along the drilling path.

进一步的,所述步骤(1.1)、(1.2)中的陀螺漂移、加速度计零偏状态采用反馈校正。Further, the gyro drift and the accelerometer bias state in the steps (1.1) and (1.2) are corrected by feedback.

进一步的,所述步骤(1.1)、(1.2)中的安装误差状态采用开环校正。Further, the installation error state in the steps (1.1) and (1.2) adopts open-loop correction.

进一步的,所述步骤(1)中惯性测量单元测量角增量信息和速度增量信息时其采样间隔不大于0.01s。Further, in the step (1), when the inertial measurement unit measures the angular increment information and the velocity increment information, the sampling interval is not greater than 0.01s.

以上所述仅是本发明的优选实施方式,本发明的保护范围并不仅局限于上述实施例,凡属于本发明思路下的技术方案均属于本发明的保护范围。应当指出,对于本技术领域的普通技术人员来说,在不脱离本发明原理前提下的若干改进和润饰,这些改进和润饰也应视为本发明的保护范围。The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions under the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims (12)

1.适用于长距离水平取芯钻机的定位定向仪孔内定位方法,其特征在于,包括以下步骤:1. The positioning method in the hole of the positioning orientator that is applicable to the long-distance horizontal core drilling rig, is characterized in that, comprises the following steps: (1)将定位定向仪安装到取芯器上,并放置于取芯钻机载车的基座上,向定位定向仪装订初始位置信息和初始速度信息,装订完成后定位定向仪静止15~25分钟,并进行初始自对准,获得初始姿态信息,定位定向仪要在线保存惯性测量单元测量得到的角增量信息和速度增量信息;定位定向仪完成初始自对准后,基于非完整约束卡尔曼滤波器进行正向自主导航定位;其中,非完整约束卡尔曼滤波器按照如下步骤设计:(1) Install the positioning and directional instrument on the coring device, and place it on the base of the core drilling rig vehicle, and bind the initial position information and initial speed information to the positioning and directional instrument. minutes, and perform initial self-alignment to obtain initial attitude information. The positioning and orientation instrument should save the angular increment information and velocity increment information measured by the inertial measurement unit online; after the positioning and orientation instrument completes the initial self-alignment, based on the non-holonomic constraints The Kalman filter performs forward autonomous navigation and positioning; among them, the nonholonomic constrained Kalman filter is designed according to the following steps: (1.1)以姿态误差φn、速度误差δvn、位置误差δpn、陀螺漂移εb、加速度计零偏
Figure FDA00024713722800000112
定位定向仪惯性测量单元的安装误差η为系统状态x(t),分别确定姿态误差、速度误差、陀螺漂移、加速度计零偏、安装误差的微分方程如下:
(1.1) Take attitude error φ n , velocity error δv n , position error δp n , gyro drift ε b , accelerometer bias
Figure FDA00024713722800000112
The installation error η of the inertial measurement unit of the positioning and orientation instrument is the system state x(t). The differential equations for determining the attitude error, velocity error, gyro drift, accelerometer bias, and installation error are as follows:
Figure FDA0002471372280000011
Figure FDA0002471372280000011
其中,
Figure FDA0002471372280000012
表示导航坐标系n相对于惯性坐标系i的旋转角速度,
Figure FDA0002471372280000013
表示载体坐标系b与导航坐标系n之间的姿态矩阵,fn表示导航坐标系下表示的比力,
Figure FDA0002471372280000014
表示地球自转角速度,
Figure FDA0002471372280000015
表示转移角速度,vn表示速度,
Figure FDA0002471372280000016
分别表示导航坐标系旋转角速度误差量、地球自转角速度误差量、转移角速度误差量,
Figure FDA0002471372280000017
表示陀螺组件测量误差,
Figure FDA0002471372280000018
表示加速度计组件测量误差,wg、wa分别表示陀螺组件测量噪声、加速度计组件测量噪声,η=[ηθ ηΨ]T由俯仰角安装误差ηθ及航向角安装误差ηΨ构成;
in,
Figure FDA0002471372280000012
represents the rotational angular velocity of the navigation coordinate system n relative to the inertial coordinate system i,
Figure FDA0002471372280000013
represents the attitude matrix between the carrier coordinate system b and the navigation coordinate system n, f n represents the specific force expressed in the navigation coordinate system,
Figure FDA0002471372280000014
represents the angular velocity of the Earth's rotation,
Figure FDA0002471372280000015
represents the transfer angular velocity, v n represents the velocity,
Figure FDA0002471372280000016
respectively represent the rotation angular velocity error of the navigation coordinate system, the earth's rotation angular velocity error, and the transfer angular velocity error,
Figure FDA0002471372280000017
represents the measurement error of the gyro component,
Figure FDA0002471372280000018
represents the measurement error of the accelerometer component, w g and w a represent the measurement noise of the gyro component and the measurement noise of the accelerometer component, respectively, η=[η θ η Ψ ] T is composed of the pitch angle installation error η θ and the heading angle installation error η Ψ ;
(1.2)根据步骤(1.1)中确定的姿态误差、速度误差、位置误差、陀螺漂移、加速度计零偏、安装误差微分方程,构建系统状态方程如下:(1.2) According to the differential equations of attitude error, velocity error, position error, gyro drift, accelerometer bias, and installation error determined in step (1.1), the system state equation is constructed as follows:
Figure FDA0002471372280000019
Figure FDA0002471372280000019
其中,
Figure FDA00024713722800000110
表示系统状态矩阵;
in,
Figure FDA00024713722800000110
Represents the system state matrix;
Figure FDA00024713722800000111
Figure FDA00024713722800000111
Figure FDA0002471372280000021
Figure FDA0002471372280000021
Figure FDA0002471372280000022
Figure FDA0002471372280000022
Figure FDA0002471372280000023
Figure FDA0002471372280000023
式中,vE、vN、vU分别表示东向、北向、垂向速度,L表示当地纬度,h表示当地高度,RE、RN分别表示卯酉圈半径、子午圈半径,ωie表示地球自转角速度模值;In the formula, v E , v N , and v U represent the easting, northing, and vertical velocities, respectively, L represents the local latitude, h represents the local altitude, R E , R N represent the radius of the unitary circle and the radius of the meridian circle, respectively, ω ie Represents the modulus value of the angular velocity of the Earth's rotation;
Figure FDA0002471372280000024
表示系统噪声矩阵;
Figure FDA0002471372280000024
represents the system noise matrix;
w(t)=[wg wa]T表示系统噪声;w(t)=[w g w a ] T represents system noise; (1.3)取芯器沿钻进路径推进时,其侧向速度及垂向速度为零,以侧向速度误差δvx及垂向速度误差δvz构建非完整约束观测量z(t)=[δvx δvz]T,并确定观测方程;(1.3) When the corer advances along the drilling path, its lateral velocity and vertical velocity are zero, and the nonholonomic constrained observation z ( t )=[ δv x δv z ] T , and determine the observation equation; (2)由取芯钻机载车将取芯器推送至钻孔处并驻留,取芯器在钻孔处驻留10~20秒钟,并完成定位定向仪的第一次零速修正,然后采用高压气推的方式将取芯器沿着钻进路径推进,定位定向仪在线保存惯性测量单元测量得到的角增量信息和速度增量信息;(2) The corer will be pushed to the drilled hole by the core drilling rig truck and parked. The corer will stay at the drilled hole for 10 to 20 seconds, and the first zero-speed correction of the positioning and orientation instrument will be completed. Then, the corer is pushed along the drilling path by means of high-pressure gas push, and the positioning and orientation instrument saves the angular increment information and velocity increment information measured by the inertial measurement unit online; (3)当取芯器推进至钻进路径末端的钻机处,由取芯器完成取芯作业,然后取芯器在钻进路径末端再次驻留10~20秒钟,并完成定位定向仪的第二次零速修正;此外,定位定向仪要在线保存惯性测量单元测量得到的角增量信息和速度增量信息;(3) When the corer is advanced to the drilling rig at the end of the drilling path, the corer completes the coring operation, and then the corer stays at the end of the drilling path again for 10-20 seconds, and completes the positioning and orientation instrument. The second zero-speed correction; in addition, the positioning and orientation instrument should save the angular increment information and speed increment information measured by the inertial measurement unit online; (4)第二次零速修正完成后,通过卷扬机将取芯器从孔内拖出,当取芯器被拖至钻孔处时再次驻留10~20秒钟,并完成定位定向仪的第三次零速修正;第三次零速修正完成后,将取芯器拖动至取芯钻机载车的基座上,再次静止15~25分钟;此外,定位定向仪要在线保存惯性测量单元测量得到的角增量信息和速度增量信息;(4) After the second zero-speed correction is completed, the core remover is pulled out of the hole by the hoist. When the core remover is dragged to the drill hole, it stays for 10 to 20 seconds again, and the positioning and orientation instrument is completed. The third zero-speed correction; after the third zero-speed correction is completed, drag the coring device to the base of the core drilling rig vehicle, and stand still for 15 to 25 minutes again; in addition, the positioning and orientation instrument should save the inertial measurement online Angular increment information and velocity increment information obtained by unit measurement; (5)将陀螺组件测量角速度
Figure FDA0002471372280000031
加速度计组件测量比力fb及地球自转角速度
Figure FDA0002471372280000032
取反,并按照从后至前的时间顺序反转步骤(1)-(4)中保存的角增量信息、速度增量信息,构成逆向测量数据序列,并基于非完整约束卡尔曼滤波器进行逆向自主导航定位,其中,逆向导航解算如下式所述:
(5) Measure the angular velocity of the gyro component
Figure FDA0002471372280000031
The accelerometer assembly measures the specific force f b and the angular velocity of the earth's rotation
Figure FDA0002471372280000032
Invert, and reverse the angular increment information and velocity increment information saved in steps (1)-(4) in the time sequence from back to front to form a reverse measurement data sequence, and based on the nonholonomic constrained Kalman filter Perform reverse autonomous navigation and positioning, where the reverse navigation solution is described as follows:
Figure FDA0002471372280000033
Figure FDA0002471372280000033
Figure FDA0002471372280000034
Figure FDA0002471372280000034
Figure FDA0002471372280000035
Figure FDA0002471372280000035
其中,in,
Figure FDA0002471372280000036
Figure FDA0002471372280000036
Figure FDA0002471372280000037
分别表示逆向时序d、d-1时刻的姿态矩阵,
Figure FDA0002471372280000038
分别表示逆向时序d、d-1时刻的速度,
Figure FDA0002471372280000039
分别表示逆向时序d、d-1时刻的位置,gn
Figure FDA00024713722800000310
分别表示正向解算、逆向解算当地重力加速度,I3表示三阶单位矩阵,△T表示采样间隔;
Figure FDA0002471372280000037
Represent the attitude matrices at the reverse time series d and d-1, respectively,
Figure FDA0002471372280000038
respectively represent the speed at the time of reverse sequence d and d-1,
Figure FDA0002471372280000039
Represent the positions of the reverse time series d and d-1, respectively, g n ,
Figure FDA00024713722800000310
Respectively represent the forward solution and reverse solution of the local gravitational acceleration, I 3 represents the third-order unit matrix, and △T represents the sampling interval;
(6)以时间对齐后的正向自主导航定位结果pn与逆向自主导航定位结果
Figure FDA00024713722800000311
的均值
Figure FDA00024713722800000312
作为平均定位,将取芯器推进段的定位结果作为钻进路径轨迹,并根据钻进路径轨迹计算其相对于设计路径的偏差,进而对钻进路径进行调整。
(6) Use the time-aligned forward autonomous navigation and positioning results p n and reverse autonomous navigation and positioning results
Figure FDA00024713722800000311
mean of
Figure FDA00024713722800000312
As the average positioning, the positioning result of the advancing section of the corer is used as the drilling path trajectory, and the deviation from the design path is calculated according to the drilling path trajectory, and then the drilling path is adjusted.
2.如权利要求1所述的适用于长距离水平取芯钻机的定位定向仪孔内定位方法,其特征在于,所述步骤(1.3)中观测方程的确定通过以下步骤实现:2. the positioning method in the hole of the positioning orientator that is applicable to the long-distance horizontal core drilling rig as claimed in claim 1, is characterized in that, in described step (1.3), the determination of observation equation is realized by the following steps: (1.3.1)将定位定向仪速度输出投影到惯性测量单元坐标系m,按照如下方式:(1.3.1) Project the speed output of the positioning directional instrument to the inertial measurement unit coordinate system m, as follows:
Figure FDA00024713722800000313
Figure FDA00024713722800000313
其中,
Figure FDA00024713722800000314
表示定位定向仪速度输出在惯性测量单元坐标系m下的投影,vm表示真实的m坐标系下表示的定位定向仪速度,
Figure FDA00024713722800000315
表示载体坐标系b与惯性测量单元坐标系m之间的安装关系矩阵,ζ=[ηθ ηγ ηΨ]T表示安装误差角,
Figure FDA00024713722800000316
表示导航坐标系n与载体坐标系b之间的姿态矩阵;由于横滚角安装误差ηγ不会影响前向速度投影,将其赋值为0,即ηγ=0;
in,
Figure FDA00024713722800000314
Represents the projection of the speed output of the positioning and orientation instrument in the inertial measurement unit coordinate system m, v m represents the positioning and orientation instrument speed expressed in the real m coordinate system,
Figure FDA00024713722800000315
represents the installation relationship matrix between the carrier coordinate system b and the inertial measurement unit coordinate system m, ζ=[η θ η γ η Ψ ] T represents the installation error angle,
Figure FDA00024713722800000316
Represents the attitude matrix between the navigation coordinate system n and the carrier coordinate system b; since the roll angle installation error η γ does not affect the forward velocity projection, it is assigned to 0, that is, η γ =0;
(1.3.2)以
Figure FDA00024713722800000317
的x、z分量作为非完整约束观测量z(t),构建观测方程如下:
(1.3.2) with
Figure FDA00024713722800000317
The x and z components of , are used as the nonholonomic constraint observation z(t), and the observation equation is constructed as follows:
z(t)=H(t)x(t)+υ(t) (4)z(t)=H(t)x(t)+υ(t) (4) 其中,
Figure FDA00024713722800000318
且M1=[1 0 0],M3=[0 0 1],
Figure FDA0002471372280000041
υ(t)表示观测噪声。
in,
Figure FDA00024713722800000318
and M 1 =[1 0 0], M 3 =[0 0 1],
Figure FDA0002471372280000041
υ(t) represents observation noise.
3.如权利要求1所述的适用于长距离水平取芯钻机的定位定向仪孔内定位方法,其特征在于,所述步骤(2)中的零速修正按照如下步骤进行:3. the positioning method in the hole of the positioning orientator that is applicable to the long-distance horizontal core drilling rig as claimed in claim 1, is characterized in that, the zero-speed correction in described step (2) is carried out according to the following steps: (2.1)定位定向仪根据角速度、速度信息自主检测到其零速状态,将前向速度误差δvy增广为观测量,零速状态下的观测量为zZUPT(t)=[δvx δvy δvz]T(2.1) The positioning and orientation instrument automatically detects its zero-speed state according to the angular velocity and speed information, and expands the forward speed error δv y into an observational quantity. The observational quantity in the zero-speed state is z ZUPT (t)=[δv x δv y δv z ] T ; (2.2)以
Figure FDA0002471372280000042
的x、y、z分量作为零速状态下的观测量zZUPT(t),构建观测方程如下:
(2.2) with
Figure FDA0002471372280000042
The x, y, and z components of z are taken as the observed quantity z ZUPT (t) in the zero-speed state, and the observation equation is constructed as follows:
zZUPT(t)=HZUPT(t)x(t)+μ(t) (5)z ZUPT (t)=H ZUPT (t)x(t)+μ(t) (5) 其中,
Figure FDA0002471372280000043
μ(t)表示观测噪声;
in,
Figure FDA0002471372280000043
μ(t) represents observation noise;
(2.3)当定位定向仪处于零速状态时,卡尔曼滤波器观测方程由式(4)切换为(5),采用序贯处理的方式完成量测更新。(2.3) When the positioning and directional instrument is in the zero-speed state, the Kalman filter observation equation is switched from equation (4) to (5), and the measurement update is completed by sequential processing.
4.如权利要求1所述的适用于长距离水平取芯钻机的定位定向仪孔内定位方法,其特征在于,所述步骤(5)中的逆向自主导航定位包括如下步骤:4. The method for positioning in the hole of the positioning orientator as claimed in claim 1, wherein the reverse autonomous navigation positioning in the step (5) comprises the following steps: (5.1)利用逆向测量数据的第一个15~25分钟的静态阶段完成初始对准,获得初始姿态信息;(5.1) Use the static phase of the first 15-25 minutes of the reverse measurement data to complete the initial alignment and obtain the initial attitude information; (5.2)按照步骤(1.1)-(1.3)所述的非完整约束卡尔曼滤波器进行逆向滤波,姿态误差方程、速度误差方程、位置误差方程、陀螺漂移、加速度零偏及定位定向仪惯性测量单元的安装误差的微分方程保持不变,观测方程也保持不变;(5.2) Perform reverse filtering according to the nonholonomic constrained Kalman filter described in steps (1.1)-(1.3), attitude error equation, velocity error equation, position error equation, gyro drift, acceleration bias and inertial measurement of positioning and orientation instrument The differential equation of the installation error of the unit remains unchanged, and the observation equation also remains unchanged; (5.3)逆向自主导航定位过程中,当取芯器处于驻留状态时,按照步骤(2.1)-(2.3)所述零速修正方式进行误差校正。(5.3) During the process of reverse autonomous navigation and positioning, when the corer is in the resident state, perform error correction according to the zero-speed correction method described in steps (2.1)-(2.3). 5.如权利要求1所述的适用于长距离水平取芯钻机的定位定向仪孔内定位方法,其特征在于,所述步骤(1)、(4)中取芯器在取芯钻机载车基座上的静止时长分别为15分钟。5. The method for positioning in the hole of a positioning orientator suitable for a long-distance horizontal coring drill as claimed in claim 1, characterized in that, in the steps (1) and (4), the coring device is mounted on the coring drill carrier The periods of rest on the pedestals are 15 minutes each. 6.如权利要求1所述的适用于长距离水平取芯钻机的定位定向仪孔内定位方法,其特征在于,所述步骤(1)、(4)中取芯器在取芯钻机载车基座上的静止时长分别为25分钟。6. The method for positioning in the hole of a positioning orientator suitable for a long-distance horizontal coring drill as claimed in claim 1, characterized in that, in the steps (1) and (4), the coring device is mounted on the coring drill carrier The periods of stillness on the pedestal were 25 minutes each. 7.如权利要求1所述的适用于长距离水平取芯钻机的定位定向仪孔内定位方法,其特征在于,所述步骤(2)、(3)、(4)中取芯器在钻孔处及钻进路径末端的驻留时长分别为10秒。7. The in-hole positioning method of a positioning and orientation instrument suitable for a long-distance horizontal core drilling machine as claimed in claim 1, characterized in that, in the steps (2), (3) and (4), the corer is in the drilling process. The dwell time at the hole and at the end of the drilling path was 10 seconds, respectively. 8.如权利要求1所述的适用于长距离水平取芯钻机的定位定向仪孔内定位方法,其特征在于,所述步骤(2)、(3)、(4)中取芯器在钻孔处及钻进路径末端的驻留时长分别为20秒。8. The in-hole positioning method of a positioning and orientation instrument suitable for a long-distance horizontal core drilling machine as claimed in claim 1, characterized in that, in the steps (2), (3) and (4), the corer is in the drilling process. The dwell time at the hole and at the end of the drilling path was 20 seconds, respectively. 9.如权利要求1所述的适用于长距离水平取芯钻机的定位定向仪孔内定位方法,其特征在于,所述步骤(2)中采用高压液推的方式将取芯器沿着钻进路径推进。9. The in-hole positioning method of the positioning and orientation instrument suitable for a long-distance horizontal coring drill as claimed in claim 1, characterized in that, in the step (2), a high-pressure hydraulic push method is used to push the coring device along the drill. Advance the path. 10.如权利要求1所述的适用于长距离水平取芯钻机的定位定向仪孔内定位方法,其特征在于,所述步骤(1.1)、(1.2)中的陀螺漂移、加速度计零偏状态采用反馈校正。10. The in-hole positioning method for a positioning and orientation instrument suitable for a long-distance horizontal core drilling rig as claimed in claim 1, wherein the gyro drift and accelerometer zero-bias state in the steps (1.1) and (1.2) Use feedback correction. 11.如权利要求1所述的适用于长距离水平取芯钻机的定位定向仪孔内定位方法,其特征在于,所述步骤(1.1)、(1.2)中的安装误差状态采用开环校正。11 . The in-hole positioning method for a positioning and orientation instrument suitable for a long-distance horizontal core drilling rig according to claim 1 , wherein the installation error state in the steps (1.1) and (1.2) adopts open-loop correction. 12 . 12.如权利要求1所述的适用于长距离水平取芯钻机的定位定向仪孔内定位方法,其特征在于,所述步骤(1)中惯性测量单元测量角增量信息和速度增量信息时其采样间隔不大于0.01s。12. The method for positioning in-hole positioning of a positioning and orientation instrument suitable for a long-distance horizontal core drilling rig as claimed in claim 1, wherein in the step (1), the inertial measurement unit measures the angular increment information and the velocity increment information When the sampling interval is not more than 0.01s.
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