CN113484933A - Dynamic error correction method for mining handheld inclinometer - Google Patents

Dynamic error correction method for mining handheld inclinometer Download PDF

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CN113484933A
CN113484933A CN202110825617.7A CN202110825617A CN113484933A CN 113484933 A CN113484933 A CN 113484933A CN 202110825617 A CN202110825617 A CN 202110825617A CN 113484933 A CN113484933 A CN 113484933A
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degrees
error correction
acceleration sensor
value
inclinometer
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CN113484933B (en
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樊依林
代晨昱
燕斌
赵朋朋
陈坤
刘耀波
徐晶
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Xian Research Institute Co Ltd of CCTEG
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V13/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices covered by groups G01V1/00 – G01V11/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/40—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for measuring magnetic field characteristics of the earth
    • 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
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Abstract

The invention discloses a dynamic error correction method for a mining handheld inclinometer, which comprises the steps of firstly placing the handheld inclinometer on a three-axis nonmagnetic turntable, and respectively setting a plurality of position points through the turntable in three intervals; recording the outputs of an acceleration sensor and a magnetic sensor of the handheld inclinometer; respectively calculating error coefficients of the three intervals according to the measured value and the theoretical value of the sensor; storing the error coefficients of the three intervals into a FLASH of a microcontroller of the handheld inclinometer; and the microcontroller in the handheld inclinometer judges the section of the position point to be measured according to the internal acceleration value, so that the error coefficient of the corresponding section in the FLASH is called, the dynamic error correction is realized, and the corrected attitude angle is calculated. The invention can dynamically adjust the error correction coefficient, so that higher measurement precision is kept in the whole measurement range of the inclination angle and the azimuth angle.

Description

Dynamic error correction method for mining handheld inclinometer
Technical Field
The invention relates to an inclinometer error correction method, in particular to a dynamic correction method for an underground handheld inclinometer error in the field of coal mines.
Background
In the field of coal mine production, underground drilling construction is widely applied to the fields of geological exploration, gas drainage, water damage prevention and control and the like. The quality requirements of mine production on water exploration holes, gas drainage holes and exploration holes are improved, and the track of the construction drilling is directly related to the quality and safety production of the drilling. Therefore, it is important to measure the drilling trajectory. The primary function of the hand-held inclinometer is to measure the trajectory of a completed borehole that has been constructed. The track in space is a smooth curve formed by a plurality of points in space, and the track of the drilled hole can be calculated after the information of the corresponding points is acquired. In order to obtain parameters of a spatial point, precise measurements of the tilt angle, tool face angle, azimuth angle, depth information, etc. of this point are required.
At present, most of the angle information measured by the handheld inclinometer is obtained by installing an acceleration sensor and a magnetic sensor in an inclinometer probe tube, respectively sensing the earth gravity field and the earth magnetic field, and calculating three required key angles through a series of coordinate transformation and calculation, so that the accuracy of a measuring track is ensured. However, due to the influence of factors such as manufacturing error, installation error, environmental error, and coordinate system misalignment existing in the sensor itself, the angle measurement result cannot be used or the required measurement accuracy cannot be satisfied. Therefore, it is necessary to correct the error generated during the measurement process to meet the use requirements.
At present, the error correction method of the handheld inclinometer mainly comprises accurate estimation of error parameters, wherein an ellipsoid fitting method, a dot product invariant method, a Newton iteration query method and a given multi-position non-north-alignment method are adopted. For example, patent CN105806364A discloses a calibration method for inclinometer probe of a mining rotary drilling rig, which uses a multi-position method and a dot product invariant method to calculate error parameters; patent CN104234696A discloses a method for correcting errors by constructing an error model of attitude angle and querying a curve list; patent CN108507553A discloses a correction method for an electronic compass, which estimates error parameters. The above methods have advantages and disadvantages, but the above methods are an overall estimation of the entire error parameters, and it may occur that part of the parameters are locally superior and part of the parameters are locally inferior, which cannot satisfy that all the parameters are optimal solutions. Thereby causing the measurement results of the handheld inclinometer to be uneven within the angle measurement range. For example, most of the measurement indexes provided by the handheld inclinometer are good in part and slightly poor in part, the inclination angle is from-60 degrees to 60 degrees, the error is +/-0.3 degrees, the inclination angle is from-90 degrees to-60 degrees to-90 degrees, and the error is +/-0.5 degrees. Because the use environment and the working condition of the handheld inclinometer are complex, especially when the track of an upward inclined hole or a downward inclined hole with a large inclination angle is measured or the inclinometer rotates along the self axial direction, the correction method causes that the inclination angle and the azimuth angle precision are difficult to keep high precision in the whole measuring range, and the angle measuring error is large, thereby influencing the accuracy of measuring the track. In summary, the existing error correction methods for handheld inclinometers have certain defects and great limitations.
Disclosure of Invention
Aiming at the defects and shortcomings in the prior art, the invention provides a dynamic error correction method for a mining handheld inclinometer, which solves the problems that in the prior art, the error parameters are locally good and bad, the error coefficient cannot be dynamically adjusted according to the measurement angle, the angle measurement precision is low, and the measurement track deviation is large due to large errors of the inclination angle and the azimuth angle when a large inclination angle is measured.
In order to achieve the purpose, the invention adopts the following technical scheme:
a dynamic error correction method for a mining handheld inclinometer comprises the following steps:
placing a handheld inclinometer on a three-axis non-magnetic rotary table so as to give a plurality of position points through the three-axis non-magnetic rotary table; an acceleration sensor and a magnetic sensor are arranged in the handheld inclinometer to measure the sensor values of all the position points;
dividing the inclination angle range of the three-axis nonmagnetic turntable into three intervals, giving a plurality of position points in each interval, and collecting the actual measurement value of the acceleration sensor and the actual measurement value of the magnetic sensor of each position point;
substituting the actual measurement value and the theoretical value of the acceleration sensor corresponding to each position point in each interval into an acceleration sensor error correction model to respectively calculate the acceleration sensor error correction coefficient of each interval; substituting the actual measurement value and the theoretical value of the magnetic sensor corresponding to each position point in each interval into a magnetic sensor error correction model to respectively calculate the magnetic sensor error correction coefficient of each interval;
step four, calculating the uncorrected inclination angle of the position point to be measured through the measured value of the acceleration sensor of the position point to be measured, which is acquired by the handheld inclinometer; selecting an acceleration sensor error correction coefficient and a magnetic sensor error correction coefficient according to the section to which the uncorrected inclination belongs;
substituting the selected error correction coefficient of the acceleration sensor and the collected measured value of the acceleration sensor of the position point to be measured into an error correction model of the acceleration sensor to calculate to obtain a corrected value of the acceleration sensor; substituting the selected magnetic sensor error correction coefficient and the collected magnetic sensor measurement value of the position point to be measured into a magnetic sensor error correction model to calculate to obtain a corrected magnetic sensor value;
step six, calculating a final attitude angle through the corrected acceleration sensor value and the corrected magnetic sensor value: inclination angle theta', tool face angle
Figure BDA0003173686290000021
And azimuth angle
Figure BDA0003173686290000022
The invention also comprises the following technical characteristics:
specifically, in the second step, the three intervals include: the three-axis non-magnetic turntable rotates to a first interval with an inclination angle of minus 30 degrees to 30 degrees, the three-axis non-magnetic turntable rotates to a second interval with an inclination angle of 30 degrees to 60 degrees and minus 30 degrees to minus 60 degrees, and the three-axis non-magnetic turntable rotates to a third interval with an inclination angle of 60 degrees to 90 degrees and minus 60 degrees to minus 90 degrees; and the relation of the number of the position points in the three intervals is as follows: the number of the third interval position points is larger than the number of the second interval position points and larger than the number of the first interval position points.
Specifically, the second step includes:
step 2.1, respectively rotating the three-axis nonmagnetic turntable to the inclination angles of 0 degrees, 10 degrees, 20 degrees, 30 degrees, 10 degrees, 20 degrees and 30 degrees, and sequentially rotating the tool facing angles of 0 degree, 30 degrees, 60 degrees, 90 degrees, 120 degrees, 150 degrees, 180 degrees, 210 degrees, 240 degrees, 270 degrees, 300 degrees and 330 degrees at each inclination angle to obtain position points of a first interval, acquiring a sensor value of each position point and recording a theoretical value of each position point of the three-axis nonmagnetic turntable;
step 2.2, the three-axis non-magnetic turntable is respectively rotated to the inclination angles of 0 degrees, 40 degrees, 50 degrees, 60 degrees, 40 degrees, 50 degrees and 60 degrees, and the tool facing angles of 0 degree, 15 degrees, 30 degrees, 45 degrees, 60 degrees, 75 degrees, 90 degrees, 105 degrees, 120 degrees, 135 degrees, 150 degrees, 165 degrees, 180 degrees, 195 degrees, 210 degrees, 225 degrees, 240 degrees, 255 degrees, 270 degrees, 285 degrees, 300 degrees, 315 degrees, 330 degrees and 345 degrees at each inclination angle in sequence, so that position points of a second interval are obtained, the sensor value of each position point is collected, and the theoretical value of each position point of the three-axis non-magnetic turntable is recorded;
step 2.3, the three-axis nonmagnetic turntable is respectively rotated to the inclination angles of 0 °, 70 °, 80 °, 90 °, -70 °, -80 °, -90 °, and the tool facing angles of 0 °, 10 °, 20 °, 30 °, 40 °, 50 °, 60 °, 70 °, 80 °, 90 °, 100 °, 110 °, 120 °, 130 °, 140 °, 150 °, 160 °, 170 °, 180 °, 190 °, 200 °, 210 °, 220 °, 230 °, 240 °, 270 °, 280 °, 290 °, 300 °, 310 °, 320 °, 330 °, 340 °, 350 ° sequentially at each inclination angle, so as to obtain the position points of a third interval, and the sensor value of each position point is collected and the theoretical value of each position point of the three-axis nonmagnetic turntable is recorded.
Specifically, the fourth step includes calculating the acceleration sensor measurement value of the position point to be measured acquired by the handheld inclinometerThe uncorrected inclination angle of the position point to be measured:
Figure BDA0003173686290000031
in the above formula, θIs prepared fromIs uncorrected tilt angle, A'x、A'y、A'zThe measured value of the acceleration sensor of the position point to be measured is collected;
when theta isIs prepared fromCalling the error correction coefficient of the acceleration sensor and the error correction coefficient of the magnetic sensor in the first interval when the temperature is within +/-30 ℃; when theta isIs prepared fromCalling the error correction coefficient of the acceleration sensor and the error correction coefficient of the magnetic sensor in a second interval when the angles are between 30 degrees and 60 degrees and between minus 30 degrees and minus 60 degrees; when theta isIs prepared fromThe acceleration sensor error correction coefficient and the magnetic sensor error correction coefficient in the third zone are called between 60 ° and 90 ° and minus 60 ° and minus 90 °.
Specifically, in the fifth step, the selected error correction coefficient of the acceleration sensor and the collected measurement value A 'of the acceleration sensor of the position point to be measured are used'x、A'y、A'zSubstituting the model into an acceleration sensor error correction model to calculate and obtain a corrected acceleration sensor value A'xi、A'yi、A'zi；
The selected error correction coefficient of the magnetic sensor and the collected measured value B 'of the magnetic sensor of the position point to be measured'x0、B'y0、B'z0Substituting the magnetic sensor error correction model to calculate and obtain a corrected magnetic sensor value B'xi、B'yi、B'zi。
Specifically, in step six, the final attitude angle is calculated from the corrected acceleration sensor value and the corrected magnetic sensor value:
inclination angle:
Figure BDA0003173686290000041
tool face angle:
Figure BDA0003173686290000042
azimuth angle:
Figure BDA0003173686290000043
compared with the prior art, the invention has the beneficial technical effects that:
the invention solves the problems that partial error parameter estimation is locally superior, partial parameters are locally inferior, and error correction coefficients can not be dynamically adjusted in the existing correction method, so that higher measurement precision can not be kept in the whole measurement range of the inclination angle and the azimuth angle, and the track measurement deviation is larger. Experiments show that the method can ensure that the handheld inclinometer keeps the same precision within the measurement range of-90 degrees to 90 degrees, and the absolute measurement error is not more than +/-0.15 degrees.
Drawings
FIG. 1 is a hand-held inclinometer used in the method for dynamically correcting errors of the present invention;
FIG. 2 is a flow chart of a method for dynamically correcting errors in accordance with the present invention;
the invention is described in detail below with reference to the drawings and the detailed description.
Detailed Description
The invention provides a dynamic error correction method for a mining handheld inclinometer, which comprises the steps of placing the handheld inclinometer on a three-axis non-magnetic rotary table through a special fixture, respectively setting a plurality of spatial position points through the rotary table in three intervals, and recording the outputs of an acceleration sensor and a magnetic sensor of the handheld inclinometer; respectively calculating error coefficients of the three intervals according to the measured value and the theoretical value of the sensor; storing the error coefficients of the three intervals into a hand-held inclinometer microcontroller FLASH in a wifi communication mode; and the microcontroller in the handheld inclinometer judges the inclination angle of the zone in which the microcontroller is positioned according to the original value of the internal acceleration of the handheld inclinometer, so that the error coefficient of the corresponding zone in the FLASH is called, the dynamic error correction is realized, and the corrected attitude angle is calculated according to a formula.
The method specifically comprises the following steps:
placing a handheld inclinometer on a three-axis non-magnetic rotary table so as to give a plurality of position points through the three-axis non-magnetic rotary table; an acceleration sensor and a magnetic sensor are arranged in the handheld inclinometer to measure the sensor values of all the position points;
dividing the inclination angle range of the three-axis nonmagnetic turntable into three intervals, giving a plurality of position points in each interval, and collecting the actual measurement value of the acceleration sensor and the actual measurement value of the magnetic sensor of each position point;
specifically, in the second step, the three intervals include: the three-axis non-magnetic turntable rotates to a first interval with an inclination angle of minus 30 degrees to 30 degrees, the three-axis non-magnetic turntable rotates to a second interval with an inclination angle of 30 degrees to 60 degrees and minus 30 degrees to minus 60 degrees, and the three-axis non-magnetic turntable rotates to a third interval with an inclination angle of 60 degrees to 90 degrees and minus 60 degrees to minus 90 degrees; and the relation of the number of the position points in the three intervals is as follows: the number of the third interval position points is larger than the number of the second interval position points and larger than the number of the first interval position points.
More specifically, the second step includes:
step 2.1, respectively rotating the three-axis nonmagnetic turntable to the inclination angles of 0 degrees, 10 degrees, 20 degrees, 30 degrees, 10 degrees, 20 degrees and 30 degrees, and sequentially rotating the tool facing angles of 0 degree, 30 degrees, 60 degrees, 90 degrees, 120 degrees, 150 degrees, 180 degrees, 210 degrees, 240 degrees, 270 degrees, 300 degrees and 330 degrees at each inclination angle to obtain position points of a first interval, acquiring a sensor value of each position point and recording a theoretical value of each position point of the three-axis nonmagnetic turntable;
step 2.2, the three-axis non-magnetic turntable is respectively rotated to the inclination angles of 0 degrees, 40 degrees, 50 degrees, 60 degrees, 40 degrees, 50 degrees and 60 degrees, and the tool facing angles of 0 degree, 15 degrees, 30 degrees, 45 degrees, 60 degrees, 75 degrees, 90 degrees, 105 degrees, 120 degrees, 135 degrees, 150 degrees, 165 degrees, 180 degrees, 195 degrees, 210 degrees, 225 degrees, 240 degrees, 255 degrees, 270 degrees, 285 degrees, 300 degrees, 315 degrees, 330 degrees and 345 degrees at each inclination angle in sequence, so that position points of a second interval are obtained, the sensor value of each position point is collected, and the theoretical value of each position point of the three-axis non-magnetic turntable is recorded;
step 2.3, the three-axis nonmagnetic turntable is respectively rotated to the inclination angles of 0 °, 70 °, 80 °, 90 °, -70 °, -80 °, -90 °, and the tool facing angles of 0 °, 10 °, 20 °, 30 °, 40 °, 50 °, 60 °, 70 °, 80 °, 90 °, 100 °, 110 °, 120 °, 130 °, 140 °, 150 °, 160 °, 170 °, 180 °, 190 °, 200 °, 210 °, 220 °, 230 °, 240 °, 270 °, 280 °, 290 °, 300 °, 310 °, 320 °, 330 °, 340 °, 350 ° sequentially at each inclination angle, so as to obtain the position points of a third interval, and the sensor value of each position point is collected and the theoretical value of each position point of the three-axis nonmagnetic turntable is recorded.
Substituting the actual measurement value and the theoretical value of the acceleration sensor corresponding to each position point in each interval into an acceleration sensor error correction model to respectively calculate the acceleration sensor error correction coefficient of each interval; substituting the actual measurement value and the theoretical value of the magnetic sensor corresponding to each position point in each interval into a magnetic sensor error correction model to respectively calculate the magnetic sensor error correction coefficient of each interval;
the error correction model of the acceleration sensor is as follows:
Figure BDA0003173686290000061
in the formula, Ax、Ay、AzIs the actual measurement value of the acceleration sensor, and the unit is g; a. thexi、Ayi、AziIs a theoretical value of the acceleration sensor; the above equation includes 24 acceleration sensor error correction coefficients: b1Zero point offset of the X axis of the three-axis acceleration sensor, b2Zero point offset of Y-axis of three-axis acceleration sensor, b3Zero point offset of the Z axis of the three-axis acceleration sensor is g, every two three axes of the acceleration sensor are not orthogonal, and the influence on the respective measurement axes can be called as non-orthogonal error, k12Error coefficient, k, for X-axis and Y-axis non-orthogonal to X-axis21Error coefficient, k, for X-axis and Y-axis non-orthogonal to Y-axis23、k32Error coefficients caused by Y-axis and Z-axis influence caused by Y-axis and Z-axis non-orthogonality respectively; k is a radical of13、k31Error coefficients caused by non-orthogonal X and Z axes, respectively. k is a radical of11、k22、k33Measuring the axis sensitivity error coefficient, k, for the three-axis acceleration sensor X, Y, Z14、k15、k16、k17In order to improve the accuracy of equation solution, error coefficients related to a one-to-five-order polynomial of an X measuring axis are constructed, and k is similar to the error coefficients24、k25、k26、k27，k34、k35、k36、k37The error coefficients associated with the one to five-order polynomial for the axis are measured for Y, Z, dimensionless.
And in the third step, substituting the actual measurement value and the theoretical value of the acceleration sensor corresponding to each position point in each interval into the acceleration sensor error correction model to obtain an over-determined equation set, solving the over-determined equation set by using a least square method to respectively obtain the error correction coefficient of the acceleration sensor in each interval, storing the error correction coefficient in an explosion-proof tablet computer, and downloading the error correction coefficient into an inclinometer probe FLASH through wifi.
The magnetic sensor error correction model is as follows:
Figure BDA0003173686290000062
in the formula, Bx0、By0、Bz0Is the actual measurement value of the magnetic sensor, and has the unit of Gs; b isxi、Byi、BziThe above equation includes 12 magnetic sensor error correction coefficients as a theoretical value of the magnetic sensor: t is t1Zero-point offset, t, of the X-axis of a three-axis magnetic sensor2Zero-point offset, t, of the Y-axis of a three-axis magnetic sensor3Is the zero offset of the Z axis of the three-axis magnetic sensor, with the unit of Gs, similar to the acceleration sensor, N12Error coefficient, N, for X-axis and Y-axis non-orthogonal to X-axis21Error coefficient, N, for X-axis and Y-axis non-orthogonal to Y-axis23、N32Error coefficients caused by Y-axis and Z-axis influence caused by Y-axis and Z-axis non-orthogonality respectively; n is a radical of13、N31Error coefficients caused by non-orthogonal X and Z axes, respectively. N is a radical of11、N22、N33The axis sensitivity error coefficients are measured for the three-axis magnetic sensor X, Y, Z.
And in the third step, substituting the actual measurement value and the theoretical value of the magnetic sensor corresponding to each position point in each interval into the magnetic sensor error correction model to obtain an over-determined equation set, solving the over-determined equation set by using a least square method to respectively obtain the error correction coefficient of the magnetic sensor in each interval, storing the error correction coefficient in an explosion-proof tablet computer, and downloading the error correction coefficient into an inclinometer probe FLASH through wifi.
Step four, calculating the uncorrected inclination angle of the position point to be measured through the measured value of the acceleration sensor of the position point to be measured, which is acquired by the handheld inclinometer; selecting an acceleration sensor error correction coefficient and a magnetic sensor error correction coefficient according to the section to which the uncorrected inclination belongs; specifically, the method comprises the following steps:
calculating the uncorrected inclination angle of the position point to be measured through the measured value of the acceleration sensor of the position point to be measured, which is acquired by the handheld inclinometer:
Figure BDA0003173686290000071
in the above formula, θIs prepared fromIs uncorrected tilt angle, A'x、A'y、A'zThe measured value of the acceleration sensor of the position point to be measured is collected;
when theta isIs prepared fromCalling the error correction coefficient of the acceleration sensor and the error correction coefficient of the magnetic sensor in the first interval when the temperature is within +/-30 ℃; when theta isIs prepared fromCalling the error correction coefficient of the acceleration sensor and the error correction coefficient of the magnetic sensor in a second interval when the angles are between 30 degrees and 60 degrees and between minus 30 degrees and minus 60 degrees; when theta isIs prepared fromThe acceleration sensor error correction coefficient and the magnetic sensor error correction coefficient in the third zone are called between 60 ° and 90 ° and minus 60 ° and minus 90 °.
Step five, correcting the error correction coefficient of the selected acceleration sensor and the acquired measurement value A 'of the acceleration sensor of the position point to be measured'x、A'y、A'zSubstituting the model into an acceleration sensor error correction model to calculate and obtain a corrected acceleration sensor value A'xi、A'yi、A'zi；
The selected error correction coefficient of the magnetic sensor and the collected measured value B 'of the magnetic sensor of the position point to be measured'x0、B'y0、B'z0Substituting the magnetic sensor error correction model to calculate and obtain a corrected magnetic sensor value B'xi、B'yi、B'zi。
Step six, calculating a final attitude angle through the corrected acceleration sensor value and the corrected magnetic sensor value: inclination angle theta', tool face angle
Figure BDA0003173686290000072
And azimuth angle
Figure BDA0003173686290000073
Inclination angle:
Figure BDA0003173686290000074
tool face angle:
Figure BDA0003173686290000081
azimuth angle:
Figure BDA0003173686290000082
example (b):
the embodiment provides a method for dynamically correcting errors of a handheld inclinometer, which includes the following steps of installing and fixing the handheld inclinometer on a three-axis nonmagnetic rotary table, and comparing the errors dynamically corrected according to the steps with a standard rotary table, wherein absolute errors of an inclination angle and an azimuth angle participating in calculation of a drilling track are shown in table 1:
TABLE 1 measurement results of examples of the present invention
Figure BDA0003173686290000083
Comparative example:
after the handheld inclinometer product is corrected by the conventional method, the angle error after correction is generally shown in table 2.
TABLE 2 comparative example measurement Angle error index
Figure BDA0003173686290000084
Through comparison between the embodiment and the comparative example, it can be seen that the measurement precision of the correction method adopted by the invention is obviously superior to that of the measurement precision corrected by the existing method, and the effect of the embodiment of the invention is better than that of the comparative example.

Claims (6)

1. A dynamic error correction method for a mining handheld inclinometer is characterized by comprising the following steps:
placing a handheld inclinometer on a three-axis non-magnetic rotary table so as to give a plurality of position points through the three-axis non-magnetic rotary table; an acceleration sensor and a magnetic sensor are arranged in the handheld inclinometer to measure the sensor values of all the position points;
dividing the inclination angle range of the three-axis nonmagnetic turntable into three intervals, giving a plurality of position points in each interval, and collecting the actual measurement value of the acceleration sensor and the actual measurement value of the magnetic sensor of each position point;
substituting the actual measurement value and the theoretical value of the acceleration sensor corresponding to each position point in each interval into an acceleration sensor error correction model to respectively calculate the acceleration sensor error correction coefficient of each interval; substituting the actual measurement value and the theoretical value of the magnetic sensor corresponding to each position point in each interval into a magnetic sensor error correction model to respectively calculate the magnetic sensor error correction coefficient of each interval;
step four, calculating the uncorrected inclination angle of the position point to be measured through the measured value of the acceleration sensor of the position point to be measured, which is acquired by the handheld inclinometer; selecting an acceleration sensor error correction coefficient and a magnetic sensor error correction coefficient according to the section to which the uncorrected inclination belongs;
substituting the selected error correction coefficient of the acceleration sensor and the collected measured value of the acceleration sensor of the position point to be measured into an error correction model of the acceleration sensor to calculate to obtain a corrected value of the acceleration sensor; substituting the selected magnetic sensor error correction coefficient and the collected magnetic sensor measurement value of the position point to be measured into a magnetic sensor error correction model to calculate to obtain a corrected magnetic sensor value;
step six, calculating a final attitude angle through the corrected acceleration sensor value and the corrected magnetic sensor value: inclination angle theta', tool face angle
Figure FDA0003173686280000011
And azimuth angle
Figure FDA0003173686280000012
2. The method for dynamically correcting the error of the mining handheld inclinometer according to claim 1, wherein in the second step, the three intervals comprise: the three-axis non-magnetic turntable rotates to a first interval with an inclination angle of minus 30 degrees to 30 degrees, the three-axis non-magnetic turntable rotates to a second interval with an inclination angle of 30 degrees to 60 degrees and minus 30 degrees to minus 60 degrees, and the three-axis non-magnetic turntable rotates to a third interval with an inclination angle of 60 degrees to 90 degrees and minus 60 degrees to minus 90 degrees; and the relation of the number of the position points in the three intervals is as follows: the number of the third interval position points is larger than the number of the second interval position points and larger than the number of the first interval position points.
3. The method for dynamically correcting the error of the mining handheld inclinometer according to claim 2, wherein the second step comprises the following steps:
step 2.1, respectively rotating the three-axis nonmagnetic turntable to the inclination angles of 0 degrees, 10 degrees, 20 degrees, 30 degrees, 10 degrees, 20 degrees and 30 degrees, and sequentially rotating the tool facing angles of 0 degree, 30 degrees, 60 degrees, 90 degrees, 120 degrees, 150 degrees, 180 degrees, 210 degrees, 240 degrees, 270 degrees, 300 degrees and 330 degrees at each inclination angle to obtain position points of a first interval, acquiring a sensor value of each position point and recording a theoretical value of each position point of the three-axis nonmagnetic turntable;
step 2.2, the three-axis non-magnetic turntable is respectively rotated to the inclination angles of 0 degrees, 40 degrees, 50 degrees, 60 degrees, 40 degrees, 50 degrees and 60 degrees, and the tool facing angles of 0 degree, 15 degrees, 30 degrees, 45 degrees, 60 degrees, 75 degrees, 90 degrees, 105 degrees, 120 degrees, 135 degrees, 150 degrees, 165 degrees, 180 degrees, 195 degrees, 210 degrees, 225 degrees, 240 degrees, 255 degrees, 270 degrees, 285 degrees, 300 degrees, 315 degrees, 330 degrees and 345 degrees at each inclination angle in sequence, so that position points of a second interval are obtained, the sensor value of each position point is collected, and the theoretical value of each position point of the three-axis non-magnetic turntable is recorded;
step 2.3, the three-axis nonmagnetic turntable is respectively rotated to the inclination angles of 0 °, 70 °, 80 °, 90 °, -70 °, -80 °, -90 °, and the tool facing angles of 0 °, 10 °, 20 °, 30 °, 40 °, 50 °, 60 °, 70 °, 80 °, 90 °, 100 °, 110 °, 120 °, 130 °, 140 °, 150 °, 160 °, 170 °, 180 °, 190 °, 200 °, 210 °, 220 °, 230 °, 240 °, 270 °, 280 °, 290 °, 300 °, 310 °, 320 °, 330 °, 340 °, 350 ° sequentially at each inclination angle, so as to obtain the position points of a third interval, and the sensor value of each position point is collected and the theoretical value of each position point of the three-axis nonmagnetic turntable is recorded.
4. The method for dynamically correcting the error of the mining handheld inclinometer as claimed in claim 1, wherein the step four comprises the following steps of calculating the uncorrected inclination angle of the position point to be measured through the acceleration sensor measurement value of the position point to be measured acquired by the handheld inclinometer:
Figure FDA0003173686280000021
in the above formula, θIs prepared fromIs uncorrected tilt angle, A'x、A'y、A'zThe measured value of the acceleration sensor of the position point to be measured is collected;
when theta isIs prepared fromCalling the error correction coefficient of the acceleration sensor and the error correction coefficient of the magnetic sensor in the first interval when the temperature is within +/-30 ℃; when theta isIs prepared fromBetween 30 ° and 60 ° and minus 30 ° and minus 60 °, call forThe error correction coefficient of the acceleration sensor and the error correction coefficient of the magnetic sensor in the second interval; when theta isIs prepared fromThe acceleration sensor error correction coefficient and the magnetic sensor error correction coefficient in the third zone are called between 60 ° and 90 ° and minus 60 ° and minus 90 °.
5. The dynamic correction method for errors of the mining handheld inclinometer as claimed in claim 1, characterized in that in the fifth step, the selected error correction coefficient of the acceleration sensor and the collected measurement value A 'of the acceleration sensor at the position point to be measured are used'x、A'y、A'zSubstituting the model into an acceleration sensor error correction model to calculate and obtain a corrected acceleration sensor value A'xi、A'yi、A'zi；
The selected error correction coefficient of the magnetic sensor and the collected measured value B 'of the magnetic sensor of the position point to be measured'x0、B'y0、B'z0Substituting the magnetic sensor error correction model to calculate and obtain a corrected magnetic sensor value B'xi、B'yi、B'zi。
6. The mining hand-held inclinometer error dynamic correction method according to claim 5, characterized in that in step six, the final attitude angle is calculated by the corrected acceleration sensor value and the corrected magnetic sensor value:
inclination angle:
Figure FDA0003173686280000031
tool face angle:
Figure FDA0003173686280000032
azimuth angle:
Figure FDA0003173686280000033
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