CN113484933B - Mining hand-held inclinometer error dynamic correction method - Google Patents
Mining hand-held inclinometer error dynamic correction method Download PDFInfo
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- 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
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- 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
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Abstract
The invention discloses a mining handheld inclinometer error dynamic correction method, which comprises the steps of firstly, placing a handheld inclinometer on a triaxial nonmagnetic rotary table, and respectively giving a plurality of position points through the rotary table in three intervals; recording the output of an acceleration sensor and a magnetic sensor of the handheld inclinometer; respectively calculating error coefficients of three intervals according to the measured value and the theoretical value of the sensor; storing error coefficients of the three intervals into a handheld inclinometer microcontroller FLASH; the internal microcontroller of the handheld inclinometer judges the interval where the position point to be measured is located according to the internal acceleration value of the handheld inclinometer, so that the error coefficient of the corresponding interval in FLASH is called, the dynamic correction of the error is realized, and the corrected attitude angle is calculated. The invention can dynamically adjust the error correction coefficient, so that higher measurement accuracy is maintained in the whole measurement range of the inclination angle and the azimuth angle.
Description
Technical Field
The invention relates to an error correction method of an inclinometer, in particular to a dynamic correction method for an underground handheld inclinometer in the field of coal mines.
Background
In the field of coal mine production, the construction of underground drilling holes 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 also improved, and the track of construction drilling holes is directly related to drilling quality and safe production. Therefore, measuring the borehole trajectory is particularly important. The main function of the handheld inclinometer is to measure the trajectory of the completed borehole. The track on the space is a smooth curve formed by a plurality of points in the space, and the track of the drilling hole can be calculated after the information of the corresponding points is acquired. In order to obtain parameters of a spatial point, accurate measurement of inclination angle, tool facing angle, azimuth angle, depth information, etc. of the point is required.
At present, most handheld inclinometers measure the angle information, namely an acceleration sensor and a magnetic sensor are arranged in a inclinometer probe tube and are respectively used for sensing the earth gravity field and the earth magnetic field, and three key angles are calculated through a series of coordinate transformation and calculation, so that the accuracy of a measuring track is ensured. However, the angle measurement result cannot be used or the required measurement accuracy cannot be satisfied due to the influence of factors such as manufacturing errors, installation errors, environmental errors, misalignment of the coordinate system and the like of the sensor itself. Therefore, it is necessary to correct errors generated during the measurement process to meet the use requirements.
Currently, the error correction method of the handheld inclinometer mainly comprises the 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 method for calibrating the probe of a inclinometer of a mining rotary drilling machine, and error parameters are calculated by using a multi-position method and a dot product invariant method; patent CN104234696a discloses a method for correcting errors by constructing an error model of attitude angle, and inquiring a curve list; patent CN108507553a discloses a correction method of an electronic compass, which estimates error parameters. The method has advantages and disadvantages, but the method is the overall estimation of the whole error parameter, partial parameters are locally superior, partial parameters are locally inferior, and all parameters cannot be satisfied as the optimal solution. Thereby causing the measurement results of the handheld inclinometer to be uneven in its angular measurement range. For example, most handheld inclinometers provide better measurement index portions, worse portions, tilt angles from-60 to 60, error + -0.3, tilt angles from-90 to-60 to 90, error + -0.5. Because the handheld inclinometer has a complex use environment and working condition, especially when measuring the track of a upward inclined hole or a downward inclined hole with a large inclination angle, or when the inclinometer rotates along the axial direction of the inclinometer, the inclination angle and azimuth angle precision is difficult to maintain high precision in the whole measurement range by the correction method, and the angle measurement error is large, so that the accuracy of the measurement track is influenced. In summary, the existing error correction methods of the handheld inclinometer have certain defects and have great limitations.
Disclosure of Invention
Aiming at the defects and shortcomings in the prior art, the invention provides a mining handheld inclinometer error dynamic correction method, which solves the problems that the error parameters of the existing method are locally good and bad, the error coefficients cannot be dynamically adjusted according to the measured angle, so that the angle measurement precision is lower, and the error of the inclination angle and the azimuth angle is large, so that the deviation of the measurement track is large especially when the large inclination angle is measured.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a mining hand-held inclinometer error dynamic correction method comprises the following steps:
step one, placing a handheld inclinometer on a triaxial nonmagnetic rotary table so as to set a plurality of position points through the triaxial nonmagnetic rotary table; an acceleration sensor and a magnetic sensor are arranged in the handheld inclinometer to measure the sensor value of each position point;
dividing the three-axis non-magnetic turntable inclination angle range into three sections, giving a plurality of position points in each section, and collecting the actual measurement value of an acceleration sensor and the actual measurement value of a magnetic sensor of each position point;
substituting the actual measured value of the acceleration sensor 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 error correction coefficient of the acceleration sensor in each interval; substituting the actual measured 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 an 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 angle belongs;
substituting the selected error correction coefficient of the acceleration sensor and the acquired measured value of the acceleration sensor of the position point to be measured into an error correction model of the acceleration sensor to calculate a corrected value of the acceleration sensor; substituting the selected magnetic sensor error correction coefficient and the acquired magnetic sensor measured value of the position point to be measured into a magnetic sensor error correction model to calculate 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 θ', tool face angleAnd azimuth->
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 the inclination angle of between minus 30 and 30 degrees, the three-axis non-magnetic turntable rotates to a second interval with the inclination angle of between 30 and 60 degrees and between minus 30 and minus 60 degrees, and the three-axis non-magnetic turntable rotates to a third interval with the inclination angle of between 60 and 90 degrees and between minus 60 and minus 90 degrees; and the number of the three interval position points 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 non-magnetic rotary table to inclination angles of 0 degree, 10 degree, 20 degree, 30 degree, 10 degree, 20 degree and 30 degree, and sequentially rotating tool facing angles of 0 degree, 30 degree, 60 degree, 90 degree, 120 degree, 150 degree, 180 degree, 210 degree, 240 degree, 270 degree, 300 degree and 330 degree at each inclination angle to obtain position points of a first section, collecting sensor values of each position point and recording theoretical values of each position point of the three-axis non-magnetic rotary table;
step 2.2, respectively rotating the three-axis non-magnetic rotary table to inclination angles of 0 degree, 40 degree, 50 degree, 60 degree, 40 degree, 50 degree and 60 degree, and sequentially rotating tool facing angles of 0 degree, 15 degree, 30 degree, 45 degree, 60 degree, 75 degree, 90 degree, 105 degree, 120 degree, 135 degree, 150 degree, 165 degree, 180 degree, 195 degree, 210 degree, 225 degree, 240 degree, 255 degree, 270 degree, 285 degree, 300 degree, 315 degree, 330 degree and 345 degree at each inclination angle, so as to obtain position points of a second interval, collecting sensor values of each position point and recording theoretical values of each position point of the three-axis non-magnetic rotary table;
step 2.3, rotating the three-axis non-magnetic turntable to inclination angles of 0 °, 70 °, 80 °, 90 °, -70 °, -80 °, -90 °, and sequentially rotating 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 °, at each inclination angle, thereby obtaining position points of a third section, and acquiring sensor values of each position point and recording theoretical values of each position point of the three-axis non-magnetic turntable.
Specifically, the fourth step includes calculating an uncorrected inclination angle of the to-be-measured position point through the measured value of the acceleration sensor of the to-be-measured position point acquired by the handheld inclinometer:in the above, θ Not yet To uncorrected inclination angle A' x 、A' y 、A' z The measured value of the acceleration sensor is the acquired measured value of the position point to be measured;
when theta is as Not yet Calling an acceleration sensor error correction coefficient and a magnetic sensor error correction coefficient of a first interval when the temperature is within +/-30 degrees; when theta is as Not yet Invoking an acceleration sensor error correction coefficient and a magnetic sensor error correction coefficient of a second interval when the acceleration sensor error correction coefficient is between 30 DEG and 60 DEG and between minus 30 DEG and minus 60 DEG; when theta is as Not yet And invoking the acceleration sensor error correction coefficient and the magnetic sensor error correction coefficient of the third interval when the acceleration sensor error correction coefficient is between 60 DEG and 90 DEG and between minus 60 DEG and minus 90 deg.
Specifically, the fifth step is to collect the error correction coefficient of the selected acceleration sensor and the measured value A 'of the acceleration sensor of the position to be measured' x 、A' y 、A' z Substituting the error correction model of the acceleration sensor to calculate a corrected acceleration sensor value A' xi 、A' yi 、A' zi ；
The error correction coefficient of the selected magnetic sensor and the acquired magnetic sensor measured value B 'of the position point to be measured are processed' x0 、B' y0 、B' z0 Substituting the magnetic sensor error correction model to calculate corrected magnetic sensor value B' xi 、B' yi 、B' zi 。
Specifically, in the step six, a final attitude angle is calculated by the corrected acceleration sensor value and the corrected magnetic sensor value:
inclination angle:
tool facing angle:
azimuth angle:
compared with the prior art, the invention has the beneficial technical effects that:
the method solves the problems that partial error parameter estimation is locally better, partial parameter is locally worse, and the error correction coefficient cannot be dynamically adjusted, so that higher measurement precision cannot be maintained in the whole measurement range of the inclination angle and the azimuth angle, and the track measurement deviation is larger in the existing correction method. Experiments show that the method can ensure that the handheld inclinometer can maintain the same precision within the measuring range of-90 degrees to 90 degrees, and the absolute measuring error is not more than +/-0.15 degrees.
Drawings
FIG. 1 is a hand-held inclinometer used in the dynamic error correction method of the present invention;
FIG. 2 is a flow chart of the error dynamic correction method of 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 mining handheld inclinometer error dynamic correction method, which comprises the steps of placing a handheld inclinometer on a triaxial nonmagnetic turntable through a special fixture, respectively giving a plurality of position points in space through the turntable in three intervals, and recording the output of an acceleration sensor and a magnetic sensor of the handheld inclinometer; respectively calculating error coefficients of three intervals according to the measured value and the theoretical value of the sensor; storing error coefficients of the three intervals into a handheld inclinometer microcontroller FLASH in a wifi communication mode; the microcontroller in the handheld inclinometer judges the inclination angle of the section where the microcontroller is located according to the original value of the internal acceleration of the microcontroller, so that the error coefficient of the corresponding section in the FLASH is called, the dynamic correction of the error is realized, and the corrected attitude angle is calculated according to a formula.
The method specifically comprises the following steps:
step one, placing a handheld inclinometer on a triaxial nonmagnetic rotary table so as to set a plurality of position points through the triaxial nonmagnetic rotary table; an acceleration sensor and a magnetic sensor are arranged in the handheld inclinometer to measure the sensor value of each position point;
dividing the three-axis non-magnetic turntable inclination angle range into three sections, giving a plurality of position points in each section, and collecting the actual measurement value of an acceleration sensor and the actual measurement value of a 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 the inclination angle of between minus 30 and 30 degrees, the three-axis non-magnetic turntable rotates to a second interval with the inclination angle of between 30 and 60 degrees and between minus 30 and minus 60 degrees, and the three-axis non-magnetic turntable rotates to a third interval with the inclination angle of between 60 and 90 degrees and between minus 60 and minus 90 degrees; and the number of the three interval position points 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 non-magnetic rotary table to inclination angles of 0 degree, 10 degree, 20 degree, 30 degree, 10 degree, 20 degree and 30 degree, and sequentially rotating tool facing angles of 0 degree, 30 degree, 60 degree, 90 degree, 120 degree, 150 degree, 180 degree, 210 degree, 240 degree, 270 degree, 300 degree and 330 degree at each inclination angle to obtain position points of a first section, collecting sensor values of each position point and recording theoretical values of each position point of the three-axis non-magnetic rotary table;
step 2.2, respectively rotating the three-axis non-magnetic rotary table to inclination angles of 0 degree, 40 degree, 50 degree, 60 degree, 40 degree, 50 degree and 60 degree, and sequentially rotating tool facing angles of 0 degree, 15 degree, 30 degree, 45 degree, 60 degree, 75 degree, 90 degree, 105 degree, 120 degree, 135 degree, 150 degree, 165 degree, 180 degree, 195 degree, 210 degree, 225 degree, 240 degree, 255 degree, 270 degree, 285 degree, 300 degree, 315 degree, 330 degree and 345 degree at each inclination angle, so as to obtain position points of a second interval, collecting sensor values of each position point and recording theoretical values of each position point of the three-axis non-magnetic rotary table;
step 2.3, rotating the three-axis non-magnetic turntable to inclination angles of 0 °, 70 °, 80 °, 90 °, -70 °, -80 °, -90 °, and sequentially rotating 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 °, at each inclination angle, thereby obtaining position points of a third section, and acquiring sensor values of each position point and recording theoretical values of each position point of the three-axis non-magnetic turntable.
Substituting the actual measured value of the acceleration sensor 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 error correction coefficient of the acceleration sensor in each interval; substituting the actual measured 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:
wherein A is x 、A y 、A z The unit is g which is the actual measured value of the acceleration sensor; a is that xi 、A yi 、A zi Is the theoretical value of the acceleration sensor; the error correction coefficients of 24 acceleration sensors are included in the above formula: b 1 Zero point offset of X axis of triaxial acceleration sensor, b 2 Zero point offset, b of Y axis of triaxial acceleration sensor 3 Zero point offset of a Z axis of the triaxial acceleration sensor is expressed as g, the triaxial of the acceleration sensor is not orthogonal in pairs, and the influence on each measuring axis can be called as non-orthogonal error, k 12 Error coefficient k for X-axis and Y-axis non-orthogonality 21 Error coefficient, k, for Y-axis caused by non-orthogonality of X-axis and Y-axis 23 、k 32 Error coefficients caused by the influence of non-orthogonality of the Y axis and the Z axis on the Y axis and the Z axis are respectively; k (k) 13 、k 31 Error coefficients caused by non-orthogonal X-axis and Z-axis to the X-axis and Z-axis, respectively. k (k) 11 、k 22 、k 33 Measuring sensitivity error coefficient, k of axis for triaxial acceleration sensor X, Y, Z 14 、k 15 、k 16 、k 17 To improve the accuracy of solving the equation, the error coefficient related to the polynomial of the first to fifth degree of the X measuring axis is constructed, and k is the same as the above 24 、k 25 、k 26 、k 27 ，k 34 、k 35 、k 36 、k 37 Error coefficients, dimensionless, relating to the polynomial of the first to fifth order axes are measured for Y, Z.
And thirdly, substituting the actual measured value of the acceleration sensor 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 overdetermined equation set, solving the overdetermined equation set by using a least square method to respectively obtain the acceleration sensor error correction coefficient of each interval, storing the error correction coefficient in an explosion-proof tablet personal computer, and downloading the error correction coefficient into an inclinometer probe FLASH through wifi.
The error correction model of the magnetic sensor is as follows:
wherein B is x0 、B y0 、B z0 Is the actual measurement value of the magnetic sensor, and is expressed in Gs; b (B) xi 、B yi 、B zi For the theoretical value of the magnetic sensor, the above formula contains 12 magnetic sensor error correction coefficients: t is t 1 Zero point offset, t, of X axis of three-axis magnetic sensor 2 Zero point offset, t of Y axis of triaxial magnetic sensor 3 Zero point offset of Z axis of the triaxial magnetic sensor is Gs, and is similar to the acceleration sensor, N 12 Error coefficient caused by non-orthogonality of X axis and Y axis to X axis, N 21 Error coefficient, N, for X-axis and Y-axis non-orthogonality to Y-axis 23 、N 32 Error coefficients caused by the influence of non-orthogonality of the Y axis and the Z axis on the Y axis and the Z axis are respectively; n (N) 13 、N 31 Error coefficients caused by non-orthogonal X-axis and Z-axis to the X-axis and Z-axis, respectively. N (N) 11 、N 22 、N 33 The sensitivity error coefficient of the axis is measured for the triaxial magnetic sensor X, Y, Z.
And thirdly, substituting the actual measured value of the magnetic sensor 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 overdetermined equation set, solving the overdetermined equation set by using a least square method to respectively obtain the magnetic sensor error correction coefficient of each interval, storing the magnetic sensor error correction coefficient in an explosion-proof tablet computer, and downloading the magnetic sensor error correction coefficient into an inclinometer probe FLASH through wifi.
Step four, calculating an 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 angle belongs; specific:
by hand-held inclinometryThe method comprises the steps of calculating uncorrected inclination angles of measured position points acquired by an instrument according to measured values of acceleration sensors of the measured position points:in the above, θ Not yet To uncorrected inclination angle A' x 、A' y 、A' z The measured value of the acceleration sensor is the acquired measured value of the position point to be measured;
when theta is as Not yet Calling an acceleration sensor error correction coefficient and a magnetic sensor error correction coefficient of a first interval when the temperature is within +/-30 degrees; when theta is as Not yet Invoking an acceleration sensor error correction coefficient and a magnetic sensor error correction coefficient of a second interval when the acceleration sensor error correction coefficient is between 30 DEG and 60 DEG and between minus 30 DEG and minus 60 DEG; when theta is as Not yet And invoking the acceleration sensor error correction coefficient and the magnetic sensor error correction coefficient of the third interval when the acceleration sensor error correction coefficient is between 60 DEG and 90 DEG and between minus 60 DEG and minus 90 deg.
Fifthly, the error correction coefficient of the selected acceleration sensor and the acquired measured value A 'of the acceleration sensor of the position point to be measured are processed' x 、A' y 、A' z Substituting the error correction model of the acceleration sensor to calculate a corrected acceleration sensor value A' xi 、A' yi 、A' zi ；
The error correction coefficient of the selected magnetic sensor and the acquired magnetic sensor measured value B 'of the position point to be measured are processed' x0 、B' y0 、B' z0 Substituting the magnetic sensor error correction model to calculate 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 θ', tool face angleAnd azimuth->
Inclination angle:
tool facing angle:
azimuth angle:
examples:
the embodiment provides a method for dynamically correcting errors of a handheld inclinometer, wherein the handheld inclinometer is arranged and fixed on a triaxial non-magnetic turntable as shown in the steps, and the absolute errors of inclination angles and azimuth angles involved in calculation of drilling tracks are shown in table 1 after the errors are dynamically corrected according to the steps compared with a standard turntable:
TABLE 1 measurement results of examples of the invention
Comparative example:
after the product of the handheld inclinometer is corrected by adopting the existing method, the corrected angle error is generally given in table 2.
Table 2 comparative example measurement of angle error index
By comparing the above examples with the comparative examples, it can be seen that the measurement accuracy of the correction method adopted by the invention is significantly better than that of the correction method in the prior art, and the effect of the examples of the invention is better than that of the comparative examples.
Claims (3)
1. The mining hand-held inclinometer error dynamic correction method is characterized by comprising the following steps of:
step one, placing a handheld inclinometer on a triaxial nonmagnetic rotary table so as to set a plurality of position points through the triaxial nonmagnetic rotary table; an acceleration sensor and a magnetic sensor are arranged in the handheld inclinometer to measure the sensor value of each position point;
dividing the three-axis non-magnetic turntable inclination angle range into three sections, giving a plurality of position points in each section, and collecting the actual measurement value of an acceleration sensor and the actual measurement value of a magnetic sensor of each position point;
substituting the actual measured value of the acceleration sensor 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 error correction coefficient of the acceleration sensor in each interval; substituting the actual measured 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 an 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 angle belongs;
substituting the selected error correction coefficient of the acceleration sensor and the acquired measured value of the acceleration sensor of the position point to be measured into an error correction model of the acceleration sensor to calculate a corrected value of the acceleration sensor; substituting the selected magnetic sensor error correction coefficient and the acquired magnetic sensor measured value of the position point to be measured into a magnetic sensor error correction model to calculate 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 θ', tool face angleAnd azimuth->
In the second step, the three intervals include: the three-axis non-magnetic turntable rotates to a first interval with the inclination angle of between minus 30 and 30 degrees, the three-axis non-magnetic turntable rotates to a second interval with the inclination angle of between 30 and 60 degrees and between minus 30 and minus 60 degrees, and the three-axis non-magnetic turntable rotates to a third interval with the inclination angle of between 60 and 90 degrees and between minus 60 and minus 90 degrees; and the number of the three interval position points is as follows: the number of the position points of the third interval is larger than the number of the position points of the second interval and larger than the number of the position points of the first interval;
the second step comprises the following steps:
step 2.1, respectively rotating the three-axis non-magnetic rotary table to inclination angles of 0 degree, 10 degree, 20 degree, 30 degree, 10 degree, 20 degree and 30 degree, and sequentially rotating tool facing angles of 0 degree, 30 degree, 60 degree, 90 degree, 120 degree, 150 degree, 180 degree, 210 degree, 240 degree, 270 degree, 300 degree and 330 degree at each inclination angle to obtain position points of a first section, collecting sensor values of each position point and recording theoretical values of each position point of the three-axis non-magnetic rotary table;
step 2.2, respectively rotating the three-axis non-magnetic rotary table to inclination angles of 0 degree, 40 degree, 50 degree, 60 degree, 40 degree, 50 degree and 60 degree, and sequentially rotating tool facing angles of 0 degree, 15 degree, 30 degree, 45 degree, 60 degree, 75 degree, 90 degree, 105 degree, 120 degree, 135 degree, 150 degree, 165 degree, 180 degree, 195 degree, 210 degree, 225 degree, 240 degree, 255 degree, 270 degree, 285 degree, 300 degree, 315 degree, 330 degree and 345 degree at each inclination angle, so as to obtain position points of a second interval, collecting sensor values of each position point and recording theoretical values of each position point of the three-axis non-magnetic rotary table;
step 2.3, respectively rotating the three-axis non-magnetic turntable to inclination angles of 0 °, 70 °, 80 °, 90 °, -70 °, -80 °, -90 °, and sequentially rotating 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 °, at each inclination angle, thereby obtaining position points of a third section, collecting sensor values of each position point, and recording theoretical values of each position point of the three-axis non-magnetic turntable;
the fourth step comprises the step of calculating an 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:in the above, θ Not yet To uncorrected inclination angle A' x 、A' y 、A' z The measured value of the acceleration sensor is the acquired measured value of the position point to be measured;
when theta is as Not yet Calling an acceleration sensor error correction coefficient and a magnetic sensor error correction coefficient of a first interval when the temperature is within +/-30 degrees; when theta is as Not yet Invoking an acceleration sensor error correction coefficient and a magnetic sensor error correction coefficient of a second interval when the acceleration sensor error correction coefficient is between 30 DEG and 60 DEG and between minus 30 DEG and minus 60 DEG; when theta is as Not yet And invoking the acceleration sensor error correction coefficient and the magnetic sensor error correction coefficient of the third interval when the acceleration sensor error correction coefficient is between 60 DEG and 90 DEG and between minus 60 DEG and minus 90 deg.
2. The method for dynamically correcting errors of a mining handheld inclinometer according to claim 1, wherein the fifth step is to correct the error of the selected acceleration sensor and the acquired measured value A 'of the acceleration sensor at the position to be measured' x 、A' y 、A' z Substituting the error correction model of the acceleration sensor to calculate a corrected acceleration sensor value A' xi 、A' yi 、A' zi ；
The error correction coefficient of the selected magnetic sensor and the acquired magnetic sensor measured value B 'of the position point to be measured are processed' x0 、B' y0 、B' z0 Substituting the magnetic sensor error correction model to calculate corrected magnetic sensor value B' xi 、B' yi 、B' zi 。
3. The mining hand-held inclinometer error dynamic correction method as set forth in claim 2, characterized in that in step six, byCalculating a final attitude angle by the corrected acceleration sensor value and the corrected magnetic sensor value: inclination angle:
tool facing angle:
azimuth angle:
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