CN111411939B - Method for calculating drill bit depth of non-excavation drilling system - Google Patents
Method for calculating drill bit depth of non-excavation drilling system Download PDFInfo
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- CN111411939B CN111411939B CN202010251387.3A CN202010251387A CN111411939B CN 111411939 B CN111411939 B CN 111411939B CN 202010251387 A CN202010251387 A CN 202010251387A CN 111411939 B CN111411939 B CN 111411939B
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- 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
- E21B47/04—Measuring depth or liquid level
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The invention discloses a calculation method of drill bit depth of a non-excavation drilling system, which comprises a director capable of receiving GPS data of satellites and a drill bit for drilling, and is characterized in that: the calculation method comprises the following steps: 1) Calculating the horizontal distance d between the current point on the ground corresponding to the current position of the drill bit and the previous point on the ground corresponding to the previous position of the drill bit by using GPS data of the guide instrument; 2) Calculating the height difference between the current point and the starting point of the drill bit's drilling route using the GPS data of the steering instrument, a=A-A 0, A 0 GPS representing the GPS altitude of the starting point; 3) Calculating the average inclination angle beta= (alpha+alpha) of the current point and the previous point ‑1 ) 2, wherein alpha ‑1 Is the inclination of the previous point, and alpha is the inclination of the current point; 4) Calculating the drop l=d×tan β of the current point relative to the previous point; 5) Calculating the fall L=L of the current point relative to the starting point ‑1 +l; 6) The depth H of the drill bit, h=l+a, is calculated.
Description
Technical Field
The invention relates to the technical field of non-excavation, in particular to a method for calculating the depth of a drill bit of a non-excavation drilling system.
Background
With the large-scale development of urban construction, it is required to lay a sewage interception pipe or an energy (liquefied gas, natural gas, etc.) supply pipe in the city, and a more common method is to dig a groove to embed a pipe line, which causes environmental pollution, causes traffic jam and has construction safety hidden trouble.
Therefore, a non-excavation pipe laying technology, i.e., a construction technology for laying, repairing and replacing underground pipelines without trenching a road surface and damaging a large-area ground surface layer by using a rock-soil drilling means, has also been developed at present. The non-excavation technology has the advantages of short period, low cost, less pollution, good safety performance and the like, and normal traffic order cannot be influenced.
The trenchless pipe laying technology is widely applied to a horizontal guiding advancing method, and is realized by guiding a drill rod with a drill bit to conduct directional advancing by using a trenchless guiding instrument. The non-excavation guiding instrument comprises a working condition-depth, an inclination angle and a clock direction which provide a drill bit in real time, so that operators on the ground can master drilling tracks in real time so as to correct subsequent operations in time, and the non-excavation pipe laying can be completed by ensuring accurate orientation according to a given route track. Therefore, the trenchless pipe laying technology has high requirements for accurate measurement of the trenchless guiding instrument.
From the above, it is known that in the trenchless industry, it is necessary to detect and record the depth of a drill bit in the ground, and the existing technology is to detect by electromagnetic induction between an underground carbon rod and a ground receiver. The utility model discloses a non-excavation directional drilling guiding system of loose broken stratum as disclosed in chinese patent application No. 201720303118.0, including the rig, the drilling rod of being connected with the rig and set up in the drill bit of drilling rod tip, be equipped with the signal probe on the drill bit, the signal probe passes through electromagnetic wave signal transmission device and is connected with remote display appearance, electromagnetic wave signal transmission device is wireless electromagnetic wave signal transmission device, send the electromagnetic wave signal of drill bit position and angle through the underground signal probe to connect parameters such as demonstration drill bit degree of depth, gradient, instrument face angle through the ground direction appearance, thereby supply operating personnel to grasp downthehole condition.
In shallow earth without sources of interference, such techniques as described above for detection by electromagnetic induction are feasible. However, as drilling depth increases, and as a result of unpredictable sources of disturbance (e.g., underground metal lines, reinforced cement, etc.), current techniques fail to accurately determine the depth of the carbon rod (drill bit) in the subsurface.
There are also schemes using GPS at present, but only involve the calculation of the relative drop between two points (or between two drill pipes), and not the depth, the drop calculation being an approximation algorithm. Referring to fig. 4, the arcuate length of the drill rod is used as the length of the hypotenuse. This is done on two preconditions: 1. when the pushing of one drill rod is finished, the bending of the drill rod is limited, namely the arc length and the bevel edge length in the drawing are very close, so that the drop can be calculated by combining the arc length with the average value of the inclination angles of the two rods; 2. the data recording can only be done after one pole is completed, that is to say, each time the drop is calculated, the arc length is known and unchanged, only the inclination angle changes.
This fall algorithm has two disadvantages: 1. because the arc length of two points is always longer than the straight line length of two points, when long-distance operation is involved, the algorithm generates accumulated errors, so that recorded/calculated data cannot correctly reflect the underground actual route; 2. recording data must be done and only after a full rod of progress is completed, any other point at which the recorded data causes a calculation error.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a method for calculating the depth of a drill bit of a non-excavation drilling system, which can obtain the actual depth of the drill bit from the ground, improve the measurement accuracy and avoid external interference.
The first technical scheme adopted by the invention for solving the technical problems is as follows: a method of calculating bit depth for a trenchless drilling system comprising a steerable instrument capable of receiving GPS data for satellites and a bit for drilling, characterized by: the calculation method comprises the following steps:
1) Calculating the horizontal distance d between the current point on the ground corresponding to the current position of the drill bit and the previous point on the ground corresponding to the previous position of the drill bit by using GPS data of the guider: the GPS coordinates of the previous point are (La -1 ,Lo -1 ,A -1 ) The GPS coordinates of the current point are (La, lo, A), and the method for calculating the horizontal distance between the two points is as follows:
1.1 The GPS height of the previous point is replaced by the height of the current point, so that the previous point and the current point are at the same height, and a new GPS coordinate (La -1 ,Lo -1 ,A)；
1.2 To two points (La) of the same height -1 ,Lo -1 The (A) and (La, lo, A) are exchanged for geodetic coordinates (X) -1 ,Y -1 ,Z -1 ) And (X, Y, Z);
1.3 Calculating the distance between two points on the geodetic coordinates): d=sqrt ((X-X) -1 ) 2 +(Y-Y -1 ) 2 +(Z–Z -1 ) 2 )；
2) Calculating the height difference between the current point and the starting point of the drill bit's drilling route using the GPS data of the steering instrument, a＝A-A0, A0 representing the GPS altitude of the starting point;
3) Calculating the average inclination angle beta= (alpha+alpha) of the current point and the previous point -1 ) 2, wherein alpha -1 Is the inclination of the previous point, and alpha is the inclination of the current point;
4) Calculating the drop l=d×tan β of the current point relative to the previous point;
5) Calculating the fall L=L of the current point relative to the starting point -1 +l；
6) The depth H of the drill bit, h=l+a, is calculated.
In order to enable GPS data of the guider to be accurate and improve accuracy of subsequent depth calculation, the non-excavation drilling system further comprises a fixed base point corrector, the ground positioner comprises a first GPS receiver, a differential data receiver and a GPS correction calculation module, and the output end of the differential data receiver of the first GPS receiver is further connected with the input end of the GPS correction calculation module; the guide device further comprises a fixed base point corrector, wherein the fixed base point corrector comprises a second GPS receiver, a differential computing module, a differential data transmitter and a base point position input module, wherein the differential data transmitter can transmit signals to the differential data receiver of the guide device, the output ends of the second GPS receiver and the base point position input module are both connected to the input end of the differential computing module, and the output end of the differential computing module is connected with the input end of the differential data transmitter; in steps 1) and 2), the GPS fix calculation module is capable of calculating GPS data of the corrected director from the data received by the first GPS receiver and the differential data receiver.
Preferably, in step 3), the pilot obtains the inclination of the previous point and the current point by means of a carbon rod arranged on the drill bit.
The second technical scheme adopted by the invention for solving the technical problems is as follows: a method of calculating bit depth for a trenchless drilling system comprising a steerable instrument capable of receiving GPS data for satellites and a bit for drilling, characterized by: the calculation method comprises the following steps:
1) GPS data using a directorCalculating the height difference between the current point on the ground corresponding to the current position of the drill bit and the starting point of the drilling route of the drill bit: the current point GPS coordinates are (La, lo, a), the starting point (O 0 ) GPS coordinates of (1) are (La) 0 ,Lo 0 ,A 0 )，a＝A–A 0 ；
2) Calculating an average inclination angle beta= (alpha+alpha) of a previous point on the ground corresponding to the current point and the previous position of the drill bit -1 ) 2, wherein alpha -1 Is the inclination of the previous point, and alpha is the inclination of the current point;
3) Calculating the drop l=r×sin β of the current point relative to the previous point, wherein R is the length of the drill rod of the drilling system;
4) Calculating the fall L=L of the current point relative to the starting point -1 +l；
5) The depth H of the drill bit, h=l+a, is calculated.
In order to enable GPS data of the guider to be accurate and improve accuracy of subsequent depth calculation, the non-excavation drilling system further comprises a fixed base point corrector, the ground positioner comprises a first GPS receiver, a differential data receiver and a GPS correction calculation module, and the output end of the differential data receiver of the first GPS receiver is further connected with the input end of the GPS correction calculation module; the guide device further comprises a fixed base point corrector, wherein the fixed base point corrector comprises a second GPS receiver, a differential computing module, a differential data transmitter and a base point position input module, wherein the differential data transmitter can transmit signals to the differential data receiver of the guide device, the output ends of the second GPS receiver and the base point position input module are both connected to the input end of the differential computing module, and the output end of the differential computing module is connected with the input end of the differential data transmitter; in steps 1) and 2), the GPS fix calculation module is capable of calculating GPS data of the corrected director from the data received by the first GPS receiver and the differential data receiver.
Preferably, in step 3), the pilot obtains the inclination of the previous point and the current point by means of a carbon rod arranged on the drill bit.
Compared with the prior art, the invention has the advantages that: through the use of the straight line distance between two points obtained by accurate GPS position or the length of the drill rod, the drop is calculated by combining the inclination angle, so that the actual depth of the drill bit from the ground can be accurately calculated, and the operator can grasp the drilling route of the drill rod conveniently.
Drawings
FIG. 1 is a schematic diagram of the overall layout of a drilling system used in an embodiment of the present invention;
FIG. 2 is a block diagram of one configuration of a guide and fixed base point orthotic, as used in an embodiment of the present invention;
FIG. 3 is a schematic view of a data acquisition point and drilling path subsurface section of a drilling system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the approximation algorithm of the current relative drop.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for purposes of describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and because the disclosed embodiments of the present invention may be arranged in different orientations, these directional terms are merely for illustration and should not be construed as limitations, such as "upper", "lower" are not necessarily limited to orientations opposite or coincident with the direction of gravity. Furthermore, features defining "first", "second" may include one or more such features, either explicitly or implicitly.
Example 1
Referring to fig. 1, there is shown a trenchless drilling system comprising a drilling device and a guiding device, wherein the drilling device comprises a drilling machine 1 located on the ground and a drill bit 2 drilling under the ground, the guiding device comprises a guiding instrument 3, a carbon rod 4 arranged on the drill bit 2 and a fixed base point corrector 5, the guiding instrument 3 is an intelligent guiding instrument with accurate positioning, the guiding instrument and the fixed base point corrector 5 can respectively receive GPS signals of satellites 6, and the fixed base point corrector 5 can transmit signals to the guiding instrument 3. The invention utilizes the fixed base point corrector 5 to improve the positioning accuracy by a field fixed base point correction method, and improves the traditional positioning accuracy by one order of magnitude.
Referring to fig. 2, the guide instrument 3 includes a subsurface locator 31 and a surface locator 32, and in the following description of the subsurface locator 31 and the surface locator 32, "connection" is an electrical connection. Wherein the subsurface locator 31 comprises the following modules: the carbon rod magnetic field signal receiver 311 and the underground carbon rod positioning signal processing module 312, the carbon rod magnetic field signal receiver 331 can receive the magnetic field signal sent by the carbon rod 4, the output end of the carbon rod magnetic field signal receiver 311 is connected with the input end of the underground carbon rod positioning signal processing module 312, and the carbon rod magnetic field signal is processed by the underground carbon rod positioning signal processing module 312 and is sent to the ground positioner 32.
The surface locator 32 includes a first GPS receiver 321, a differential data receiver 322, a drill pipe advancement parameter transmitter 323, a steerable tool control module 324, and a GPS fix calculation module 325. The first GPS receiver 321 is capable of receiving GPS signals of satellites 6, and the outputs of the first GPS receiver 321 and the differential data receiver 322 are also connected to the inputs of the GPS fix calculation module 325 in order to derive an accurate ground position. The output of the GPS correction calculation module 325 is connected to the director control module 324.
The fixed base point corrector 5 comprises a second GPS receiver 51, a differential calculation module 52, a differential data transmitter 53 and a base point position input module 54. The second GPS receiver 51 is capable of receiving GPS signals of satellites 6, and its output terminals are connected to the input terminals of the differential calculation module 52, and the base positions input by the second GPS receiver 51 and the base position input module 54 are transferred as two input variables to the differential calculation module 52, and the output terminals of the differential calculation module 52 are connected to the input terminals of the differential data transmitter 53. The differential data receiver 322 of the director 3 and the differential data transmitter 53 of the fixed base point straightener 5.
Thereby, the fixed base point corrector 5 can generate correction information by itself base point position and GPS position and transmit the correction information to the differential data receiver 322 of the guide instrument 3 through the differential data transmitter 53. The GPS fix calculation module 325 of the director 3 calculates the correction of the GPS signal of the first GPS receiver 321 from the correction information received by the differential data receiver 322 and transmits it to the director control module 324. The base point of the fixed base point corrector 5 is the absolute GPS position and can be obtained using common measurement techniques. Once the GPS position of the base point is determined, the GPS position of the other location is determined and is more accurate than the position corrected using general GPS. Based on the accurate position information, the constructor (see the driller's hand operating the driller 1 and the pilot's hand operating the pilot 3 in fig. 1) can accurately control the advance of the drill bit 2.
Before construction, the constructor determines the start point and the end point of the whole construction according to the construction requirement, and then selects to place the fixed base point corrector 5 as the base point between the positions which are as wide as possible and close to the two start points, and fixes the fixed base point corrector on the stable support 55. Throughout the construction process, this fixed base point corrector 5 avoids migration as much as possible. To obtain accurate GPS position coordinates, the fixed base point corrector 5 needs to input or automatically obtain the GPS position of the base point.
There are three schemes available for determining the location of the base GPS: 1) Let GPS of base point converge automatically: the second GPS receiver 51 of the fixed base point corrector 5 can be started in advance a few days before construction, and the coordinates collected in a few days are calculated on average to be used as the fixed coordinates of the base point; 2) Obtaining fixed coordinates of the base points by other general measurement methods, and inputting the fixed coordinates into the fixed base point corrector 5; 3) If the convergence time required by the 1 st scheme is to be shortened, the GPS of the base point may also use a corrective service on the internet (which needs to be available on the network) to accelerate the acquisition of the GPS coordinates of the base point. After the GPS coordinates of the base point are set, the guiding instrument 3 has the function of accurately positioning the ground.
If the pipeline to be constructed and laid is relatively long, it is necessary to move the fixed base point corrector 5 to a position closer to the drill bit 2 in order to secure correction accuracy, and it is necessary to re-determine the GPS position of the base point in the above-described manner after each movement of the fixed base point corrector 5.
As in the prior art, the horizontal inclination angle obtained by the carbon rod 4 passing the drill bit 2 through the sensor can be transmitted to the guide instrument 3 in a wired or wireless manner. The guide instrument 3 can record the latitude La, longitude Lo, and altitude a of a point on the ground corresponding to the position of the drill bit 2, and the above-mentioned GPS data is preferably coordinates corrected by the fixed base point corrector 5, so that the accuracy of the coordinate data can be greatly improved, and the distance (depth) from the ground to the drill bit 2 can be calculated. If the drilling path is at the beginning, the depth is 0 and the drop is 0 because the drilling path and the ground are at the same height, and further calculation is not needed.
Referring to fig. 3, after each recording of a point data, the depth of the drill bit 2 in the subsurface corresponding to the point can be calculated by following the following method:
1) Calculating a horizontal distance d between a current point on the ground corresponding to the current position of the drill bit 2 and a previous point on the ground corresponding to the previous position of the drill bit 2 by using GPS data of the guider 3: wherein O is 0 For starting the drilling path of the drill bit 2, O -1 For the former point, O 1 For the current point, the prior art can be used to find a point on the ground corresponding to the position of the drill bit 2, where L 1 And L 2 Horizontal lines referenced respectively:
let a previous point O -1 Is (La) -1 ,Lo -1 ,A -1 ) The generic MGS84 format is used herein; latitude La, longitude Lo, and altitude A -1 If the current point O 1 The position of (a, lo, a) is calculated as follows:
1.1 To the previous point O -1 Current point O for GPS altitude of (2) 1 Is replaced by a height of one point O -1 And the current point O 1 At the same height, a new GPS coordinate (La -1 ,Lo -1 ,A)，This means the previous point O -1 And the current point O 1 At the same level;
1.2 To two points (La) of the same height -1 ,Lo -1 The (A) and (La, lo, A) are exchanged for geodetic coordinates (X) -1 ,Y -1 ,Z -1 ) And (X, Y, Z), coordinate conversion can be seen with general algorithms promulgated by the public domain;
1.3 Calculating the distance between two points on the geodetic coordinates): d=sqrt ((X-X) -1 ) 2 +(Y-Y -1 ) 2 +(Z–Z -1 ) 2 )；
2) Calculating the height difference between the current point O1 and the starting point O0 using the GPS data of the guidance device 3, a＝A-A0, here A0 represents the GPS altitude of the starting point O0;
3) Calculating the current point O 1 And a previous point O -1 Average tilt angle β= (α+α) -1 ) 2, wherein alpha -1 Is the previous point O -1 Recording the inclination angle;
4) Calculating the current point O 1 Relative to the previous point O -1 The drop l=d×tan β;
5) Calculating the current point O 1 Relative to the starting point O 0 Fall of l=l -1 +l, i.e. the current point O 1 Is added with the previous point O -1 Relative to the starting point O 0 Is used for the calculation of the next point;
6) Calculating h=l+a, H being the current point O 1 The height of the corresponding drill bit 2 from the ground, i.e. the depth of the drill bit 2.
Example two
In this embodiment, the difference from the first embodiment is that the drop between two drill rods is calculated using the current algorithm instead of L as in the first embodiment. Referring to fig. 4, the method of calculating the depth of the drill bit 2 in the subsurface includes the steps of:
1) Calculating the current point O using GPS data of the director 3 1 And a starting point O 0 Is a height difference of (2): assume the current point O 1 The position of (A) is (La, lo, A), the origin O 0 Is (La) 0 ,Lo 0 ,A 0 )，a＝A–A 0 Here A 0 Represents the origin O 0 Is a GPS altitude of (2);
2) Calculating the current point O 1 And a previous point O -1 Average tilt angle β= (α+α) -1 ) 2, wherein alpha -1 Is the previous point O -1 Recording the inclination angle;
3) Calculating the current point O 1 Relative to the previous point O -1 The drop i=r×sin β, assuming that the length of each drill rod is fixed and R is equal to the current point O with the drill rod 4 bent into a certain arc 1 And a previous point O -1 The length of the connecting line between the two to calculate the drop;
4) Calculating the current point O 1 Relative to the starting point O 0 Fall of l=l -1 +l, i.e. the current point O 1 Is added with the previous point O -1 Relative to the starting point O 0 Is used for the calculation of the next point;
5) Calculating h=l+a, H being the current point O 1 The height of the corresponding drill bit 2 from the ground, i.e. the depth of the drill bit 2.
Claims (6)
1. A method of calculating the bit depth of a trenchless drilling system comprising a pilot (3) capable of receiving GPS data of satellites (6) and a bit (2) for drilling, characterized in that: the calculation method comprises the following steps:
1) Calculating a current point (O) on the ground corresponding to the current position of the drill bit (2) by using GPS data of the guide instrument (3) 1 ) A front point (O) on the ground corresponding to the front position of the drill (2) -1 ) Is a horizontal distance d: front point (O) -1 ) GPS coordinates of (1) are (La) -1 ,Lo -1 ,A -1 ) Current point (O 1 ) The GPS coordinates of (La, lo, A) are calculated as follows:
1.1 Front point (O) -1 ) Is used for the GPS altitude of (C) 1 ) Such that the previous point (O -1 ) And the current point (O) 1 ) At the same height, a new GPS coordinate (La -1 ,Lo -1 ,A)；
1.2 To two points (La) of the same height -1 ,Lo -1 The (A) and (La, lo, A) are exchanged for geodetic coordinates (X) -1 ,Y -1 ,Z -1 ) And (X, Y, Z);
1.3 Calculating the distance between two points on the geodetic coordinates): d=sqrt ((X-X) -1 ) 2 +(Y-Y -1 ) 2 +(Z–Z -1 ) 2 )；
2) Calculating the height difference between the current point (O1) and the starting point (O0) of the drilling route of the drill bit (2) using the GPS data of the guide (3), a＝A-A0, A0 representing the GPS altitude of the starting point (O0);
3) Calculate the current point (O) 1 ) And a front point (O) -1 ) Average tilt angle β= (α+α) -1 ) 2, wherein alpha -1 Is the former point (O) -1 ) Alpha is the current point (O 1 ) Is a tilt angle of (2);
4) Calculate the current point (O) 1 ) Relative to the previous point (O -1 ) The drop l=d×tan β;
5) Calculate the current point (O) 1 ) Relative to the starting point (O) 0 ) Fall of l=l -1 +l；
6) The depth H of the drill bit (2), h=l+a, is calculated.
2. A method of calculating the bit depth of a trenchless drilling system of claim 1, wherein: the trenchless drilling system further comprises a fixed base point corrector (5), the guide instrument (3) comprises a ground positioner (32), the ground positioner (32) comprises a first GPS receiver (321), a differential data receiver (322) and a GPS correction calculation module (325), and the output ends of the first GPS receiver (321) and the differential data receiver (322) are also connected with the input end of the GPS correction calculation module (325); the fixed base point corrector (5) comprises a second GPS receiver (51), a differential computing module (52), a differential data transmitter (53) capable of transmitting signals to a differential data receiver (322) of the guide instrument (3) and a base point position input module (54), wherein the output ends of the second GPS receiver (51) and the base point position input module (54) are connected to the input end, and the output end of the differential computing module (52) is connected to the input end of the differential data transmitter (53); in steps 1) and 2), the GPS correction calculation module (325) is able to calculate the GPS data of the corrected guide instrument (3) by the data received by the first GPS receiver (321) and the differential data receiver (322).
3. A method of calculating the bit depth of a trenchless drilling system of claim 1, wherein: in step 3), the pilot instrument (3) obtains the previous point (O) through a carbon rod (4) arranged on the drill bit (2) -1 ) And the current point (O) 1 ) Is a tilt angle of (c).
4. A method of calculating the bit depth of a trenchless drilling system comprising a pilot (3) capable of receiving GPS data of satellites (6) and a bit (2) for drilling, characterized in that: the calculation method comprises the following steps:
1) Calculating a current point (O) on the ground corresponding to the current position of the drill bit (2) by using GPS data of the guide instrument (3) 1 ) And the start point (O) of the drilling route of the drill bit (2) 0 ) Is a height difference of (2): current Point (O) 1 ) The GPS coordinates of (A) are (La, lo, A), the origin (O) 0 ) GPS coordinates of (1) are (La) 0 ,Lo 0 ,A 0 )，a＝A–A 0 ；
2) Calculate the current point (O) 1 ) A front point (O) on the ground corresponding to the front position of the drill (2) -1 ) Average tilt angle β= (α+α) -1 ) 2, wherein alpha -1 Is the former point (O) -1 ) Alpha is the current point (O 1 ) Is a tilt angle of (2);
3) Calculate the current point (O) 1 ) Relative to the previous point (O -1 ) The drop i=r×sin β, R being the length of the drill rod of the drilling system;
4) Calculate the current point (O) 1 ) Relative to the starting point (O) 0 ) Fall of l=l -1 +l；
5) The depth H of the drill bit (2), h=l+a, is calculated.
5. The method of calculating the bit depth of a trenchless drilling system of claim 4, wherein: the trenchless drilling system further comprises a fixed base point corrector (5), the guide instrument (3) comprises a ground positioner (32), the ground positioner (32) comprises a first GPS receiver (321), a differential data receiver (322) and a GPS correction calculation module (325), and the output ends of the first GPS receiver (321) and the differential data receiver (322) are also connected with the input end of the GPS correction calculation module (325); the fixed base point corrector (5) comprises a second GPS receiver (51), a differential computing module (52), a differential data transmitter (53) capable of transmitting signals to a differential data receiver (322) of the guide instrument (3) and a base point position input module (54), wherein the output ends of the second GPS receiver (51) and the base point position input module (54) are connected to the input end, and the output end of the differential computing module (52) is connected to the input end of the differential data transmitter (53); in steps 1) and 2), the GPS correction calculation module (325) is able to calculate the GPS data of the corrected guide instrument (3) by the data received by the first GPS receiver (321) and the differential data receiver (322).
6. The method of calculating the bit depth of a trenchless drilling system of claim 4, wherein: in step 3), the pilot instrument (3) obtains the previous point (O) through a carbon rod (4) arranged on the drill bit (2) -1 ) And the current point (O) 1 ) Is a tilt angle of (c).
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