CN113863856B - Drilling route ground course calculation method of drilling system - Google Patents
Drilling route ground course calculation method of drilling system Download PDFInfo
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- CN113863856B CN113863856B CN202010609895.4A CN202010609895A CN113863856B CN 113863856 B CN113863856 B CN 113863856B CN 202010609895 A CN202010609895 A CN 202010609895A CN 113863856 B CN113863856 B CN 113863856B
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- 238000004364 calculation method Methods 0.000 title claims abstract description 74
- 238000005553 drilling Methods 0.000 title claims abstract description 69
- 238000010276 construction Methods 0.000 claims abstract description 28
- 238000000034 method Methods 0.000 claims abstract description 25
- 230000008859 change Effects 0.000 claims abstract description 12
- 238000012937 correction Methods 0.000 claims description 18
- 239000000523 sample Substances 0.000 claims description 13
- 230000006870 function Effects 0.000 description 8
- 238000009412 basement excavation Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
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- 239000003345 natural gas Substances 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 239000002344 surface layer Substances 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
- E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
- E21B7/06—Deflecting the direction of boreholes
- E21B7/061—Deflecting the direction of boreholes the tool shaft advancing relative to a guide, e.g. a curved tube or a whipstock
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Abstract
The invention discloses a drilling route ground course calculation method of a drilling system, which comprises a director with a GPS data acquisition function, and is characterized in that: the method comprises the following steps: 1) Recording data of a current point on a drilling route, and obtaining GPS coordinate data (La, ln) of the current point by using a director; 2) Performing ground plane projection operation on the GPS coordinate data (La, ln) to obtain plane coordinates (x, y), and storing the plane coordinates (x, y) and the original GPS coordinate data (La, ln) together; 3) Judging whether the current point is a starting point of drilling route construction, if so, entering step 3.1); if not, go to step 3.2); 3.1 Initializing the yaw angle P to 0, and storing the yaw angle record; 3.2 Calculating the yaw angle P of the current point according to the following formula: p=atan ((x-x ‑1)/(y-y‑1)), where (x ‑1,y‑1) is the plane coordinate of the previous point; storing the yaw angle record; 4) The yaw angle change delta = P-P ‑1 is calculated, where P ‑1 is the yaw angle of the previous point.
Description
Technical Field
The invention relates to the technical field of non-excavation, in particular to a drilling route ground course calculation method of a 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.
Before trenchless technology emerges, if an underground pipeline needs to be laid, an excavator is usually required to dig a trench with a certain depth into the road surface, and the trench is backfilled after the pipeline is laid. The construction method is time-consuming and labor-consuming, and can cause harm to road facilities and traffic. In certain circumstances, such as when a river, building, etc. is encountered, it is not possible to excavate a trench.
Therefore, a non-excavation technique, i.e., a construction technique for laying, repairing and replacing an underground pipeline without trenching a road surface and damaging a large-area ground surface layer, 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.
In the transverse drilling construction of the non-excavation industry, some projects have strict requirements on the camber change of an excavation route according to construction properties. Therefore, a certain procedure and method are necessary in the construction process to monitor and record the track traveled by the drill bit so as to ensure that the bending degree of the underground pipeline after construction is controlled within a limited range.
At present, an economical and mature method for measuring the angle change of the drill rod in the vertical direction in real time by using a gravity acceleration sensor exists in the vertical section. However, in the horizontal direction of the ground, although a compass can be used, the reliability is not enough to meet the engineering use requirements due to the influence of the environment. To determine the heading of a drill bit, it is common practice to lay an artificial magnetic field on the path of the excavated travel and calculate the change in heading by sensing the magnetic field by a yaw meter. Although this manual geomagnetic construction method is feasible, the construction cost is also expensive. In addition to the need to lay artificial magnetic fields on the construction route, it is also necessary to use wires to connect yaw meters and other sensors on the drill bit through the drill pipe. Thus, there is a need for a simple and cost effective heading calculation method.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a method for calculating the ground heading of a drilling route of a drilling system, which can effectively improve the construction speed and reduce the construction cost.
The first technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a drilling route ground course calculation method of drilling system, the drilling system includes the direction appearance that possesses GPS data acquisition function, its characterized in that: the method comprises the following steps:
1) Recording data of a current point on a drilling route, and obtaining GPS coordinate data (La, ln) of the current point by using a director;
2) Performing ground plane projection operation on the GPS coordinate data (La, ln) to obtain plane coordinates (x, y), and storing the plane coordinates (x, y) and the original GPS coordinate data (La, ln) together;
3) Judging whether the current point is a starting point of drilling route construction, if so, entering step 3.1); if not, go to step 3.2);
3.1 Initializing the yaw angle P to 0, and storing the yaw angle record;
3.2 Calculating the yaw angle P of the current point according to the following formula:
P=atan ((x-x -1)/(y-y-1)), where (x -1,y-1) is the plane coordinate of the previous point; storing the yaw angle record;
4) The yaw angle change delta = P-P -1 is calculated, where P -1 is the yaw angle of the previous point.
Preferably, the guide comprises a subsurface locator capable of receiving positional information of a probe of the drilling system and a surface locator comprising a first GPS receiver.
In order to facilitate improving GPS positioning accuracy, the ground positioner further comprises a differential data receiver and a GPS correction calculation module, wherein the output ends of the first GPS receiver and the differential data receiver are also connected with the input end of the GPS correction calculation module; the drilling system 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 guider, the output ends of the second GPS receiver and the base point position input module are 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 step 1), the first GPS receiver of the director is used for collecting GPS position information of the current point, and the fixed base point corrector is used for correcting the collected GPS through the GPS correction calculation module.
Preferably, the method is implemented on a comprehensive display and calculation device, the comprehensive display and calculation device comprises a user interface, a yaw angle calculation module for calculating a yaw angle according to GPS data of a guider, and a drill rod data recording module for storing the yaw angle into a storage device, and the yaw angle calculation module and the drill rod data recording module are connected with the user interface.
In order to facilitate the driller to determine the drilling route of the drill rod according to the dip angles of different dimensions, the comprehensive display and calculation device further comprises a horizontal dip angle acquisition module capable of acquiring dip angles from the guide instrument, and the horizontal dip angle acquisition module is connected with the user interface.
The second technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a drilling route ground course calculation method of drilling system, the drilling system includes the direction appearance that possesses GPS data acquisition function, its characterized in that: the method comprises the following steps:
1) Acquiring current GPS coordinate data (La, ln) in real time by using a guiding instrument, and not recording;
2) Performing ground plane projection operation on the GPS coordinate data (La, ln) to obtain plane coordinates (x, y), and storing the plane coordinates (x, y) and the original GPS coordinate data (La, ln) together;
3) Judging whether the current point is a construction starting point or not, if so, entering a step 3.1); if not, go to step 3.2);
3.1 Initializing the yaw angle P to 0, and storing the yaw angle record;
3.2 Calculating the yaw angle P of the current point according to the following formula:
P=atan ((x-x -1)/(y-y-1)), where (x -1,y-1) is the plane coordinate of the previous point; storing the yaw angle record;
4) The yaw angle change delta = P-P -1 is calculated, where P -1 is the yaw angle of the previous point and is displayed on the user interface, and then returns to step 1) until the current drill rod drilling is completed.
Preferably, the guide comprises a subsurface locator capable of receiving positional information of a probe of the drilling system and a surface locator comprising a first GPS receiver.
In order to facilitate improving GPS positioning accuracy, the ground positioner further comprises a differential data receiver and a GPS correction calculation module, wherein the output ends of the first GPS receiver and the differential data receiver are also connected with the input end of the GPS correction calculation module; the drilling system 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 guider, the output ends of the second GPS receiver and the base point position input module are 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 step 1), the first GPS receiver of the director is used for collecting GPS position information of the current point, and the fixed base point corrector is used for correcting the collected GPS through the GPS correction calculation module.
Preferably, the method is implemented on a comprehensive display and calculation device, the comprehensive display and calculation device comprises a user interface, a yaw angle calculation module for calculating a yaw angle according to GPS data of a guider, and a drill rod data recording module for storing the yaw angle into a storage device, and the yaw angle calculation module and the drill rod data recording module are connected with the user interface.
In order to facilitate the driller to determine the drilling route of the drill rod according to the dip angles of different dimensions, the comprehensive display and calculation device further comprises a horizontal dip angle acquisition module capable of acquiring dip angles from the guide instrument, and the horizontal dip angle acquisition module is connected with the user interface.
Compared with the prior art, the invention has the advantages that: the heading of the drill bit is calculated by using ground GPS data, and a wireless technology is used, so that the problem of connection is not needed to be considered, and an artificial magnetic field is not needed to be arranged, the defects of the conventional construction method are overcome, the construction speed is effectively improved, and the construction cost is reduced; when the dip angles (yaw angle and horizontal dip angle) with two different dimensions are displayed in front of the driller hand, the driller hand can comprehensively determine how the drill rod is propelled, so that the drill rod drills reasonably.
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 diagram of a yaw angle calculation and tilt angle integrated display and calculation device used in an embodiment of the present invention;
fig. 4 is a schematic view of the horizontal inclination and yaw angle of the drill pipe of the drilling system.
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, a method for calculating the ground heading of a drilling route in a drilling system, using a comprehensive display and calculation device, can be implemented on a computer or any mobile device (calculation function carrier) with calculation capability. The connection between the computing function carrier and the director 3 may be by existing wired or wireless technology, such as, preferably, but not limited to, existing wireless technology, such as the bluetooth protocol. The integrated display and computing device includes a user interface 91, a yaw angle calculation module 92, a horizontal tilt acquisition module 94, and a drill pipe data recording module 95.
The user interface 91 is a human-computer interaction interface, which is convenient for data display and user operation. The yaw angle calculation module 92 is configured to calculate a current yaw angle according to the detected data. The horizontal inclination acquisition module 94 is used to obtain the horizontal inclination of the drill rod from the guide instrument 3. Drill pipe data obtained by the drill pipe data recording module 95 may be stored in a local storage device of the carrier, such as the memory 100, and may also be implemented using cloud storage. The yaw angle calculation module 92, the horizontal tilt angle acquisition module 94 and the drill pipe data logging module 95 described above are all connected to the user interface 91 for operation and display at the user interface 91.
In the present embodiment, the yaw angle calculation module 92 needs to calculate the yaw angle using the GPS coordinate data. For this purpose, the guide instrument 3 has a GPS positioning function. Referring to fig. 2, 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 probe 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 director 3 can also receive signals from the cloud server 8 via the network 7. The guide instrument 3 with the GPS data acquisition function is available, but in order to improve the GPS data precision, the positioning precision is improved by a fixed base point correction method on site by utilizing the fixed base point corrector 5, and the traditional positioning precision is improved by one order of magnitude.
Referring to fig. 3, 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 probe magnetic field signal receiver 311 and the underground probe positioning signal processing module 312, the probe magnetic field signal receiver 331 can receive the magnetic field signal sent by the probe 4, the output end of the probe magnetic field signal receiver 311 is connected with the input end of the underground probe positioning signal processing module 312, and the probe magnetic field signal is processed by the underground probe positioning signal processing module 312 and sent to the ground positioner 32.
The ground positioner 32 includes a first GPS receiver 321, a differential data receiver 322, a director control module 323, a GPS fix calculation module 324, and a human interface/display 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 324 in order to derive an accurate ground position. The output of the GPS correction calculation module 324, the input and output of the man-machine interface/display module 325 are all connected to the director control module 323. The man-machine interface/display module 325 allows the operator to perform various operations and controls for the guide instrument.
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 324 of the guide instrument 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 the calculation to the guide instrument control module 323. 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.
In this way, the GPS can be used to accurately locate and record each critical point where the drilling path must pass, for example, a gas pipeline of a community must be connected to the main pipeline, and the nearest position of the main pipeline should be the critical point. It is particularly noted that each time GPS data is recorded, the guide 3 is ensured to be directly above the drill bit 2, otherwise measurement errors may be caused.
Referring again to fig. 2, before construction, a constructor determines a start point 101 and an end point 102 of the entire construction according to construction requirements, and then selects to place the fixed base point corrector 5 as a base point between positions as wide as possible and close to the start two points, and fixes it on the stable bracket 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. The guide instrument 3 transmits the obtained accurate positioning data to the yaw angle calculation module 92 for calculation.
Referring to fig. 4, a plane a is a vertical section of the drill rod, L a-1 is a front point, α -1 is an inclination angle of the front point L a-1, L a is a current point, α is an inclination angle of the front point L -1, L 0 is a horizon, and 21 represents a complete drill rod. The method for performing the ground course calculation by using the integrated display and calculation device, in this embodiment, is an online calculation method, which includes the following steps:
1) Recording the data of the current key point (current point) to obtain GPS coordinate data La (latitude) and Ln (longitude);
2) Performing ground plane projection operation on the GPS coordinate data (La, ln) by using the current algorithm such as the mercator projection to obtain plane coordinates (x, y), and storing the plane coordinates (x, y) and the original GPS coordinate data (La, ln) together;
3) Judging whether the current point is a starting point (first point) of construction, if so, entering step 3.1); if not, go to step 3.2);
3.1 Initializing the yaw angle P to 0, and recording and storing the yaw angle, and simultaneously recording and storing other data of the current point, such as inclination angle, depth and the like;
3.2 Calculating the yaw angle P of the current point according to the following formula:
P=atan ((x-x -1)/(y-y-1)), where (x -1,y-1) is the plane coordinate of the previous point; the yaw angle record is saved, and other data of the current point, such as inclination angle, depth and the like, can be also recorded and saved together;
4) The yaw angle change delta = P-P -1 is calculated, where P -1 is the yaw angle of the previous point. It should be noted that the delta of the starting point (the first point) and the delta of the second point are both 0, delta reflects the change of the yaw angle after passing through the current drill rod, and engineering personnel need to pay attention to the change of the yaw angle and timely control the direction of the drill rod to meet the requirement of engineering on the route camber.
In step 4), the straight line travel is performed by rotating and advancing the drill bit, and the curve travel is performed by controlling Zhong Dianshu when the drill rod is advanced, for example, 12: point 00 offset upward, 6:00 points are shifted downward, 3: point 00 to the right, 9: point 00 to the left, and so on. The steering controls the advancement of the drill pipe according to the inclination angle, yaw angle, geological conditions where the operation is, and experience.
Example two
In the present embodiment, the yaw angle calculation method is a real-time calculation. In a first embodiment, the yaw angle calculation is performed after each drill pipe is completed. If the yaw angle does not meet the engineering requirements, the engineering needs to retract the drill rod and re-advance. To avoid this, in this embodiment, a method of real-time calculation is used, which specifically includes the following steps:
1) Acquiring current GPS coordinate data (La, ln) in real time, but not needing to record, so as to calculate the course of the position of the director 3 at any time, thereby acquiring the course of the current point;
2) Performing ground plane projection operation on the GPS coordinate data (La, ln) by using the current algorithm such as the mercator projection to obtain plane coordinates (x, y), and storing the plane coordinates (x, y) and the original GPS coordinate data (La, ln) together;
3) Judging whether the current point is a starting point (first point) of construction, if so, entering step 3.1); if not, go to step 3.2);
3.1 Initializing the yaw angle P to 0, and recording and storing the yaw angle, and simultaneously recording and storing other data of the current point, such as inclination angle, depth and the like;
3.2 Calculating the yaw angle P of the current point according to the following formula:
P=atan ((x-x -1)/(y-y-1)), where (x -1,y-1) is the plane coordinate of the previous point; the yaw angle record is saved, and other data of the current point, such as inclination angle, depth and the like, can be also recorded and saved together;
4) The yaw angle change delta = P-P -1 is calculated and displayed in the user interface 91 and then back to step 1) until the end of the current drill rod drilling.
In this process, the pilot needs to track the travel of the drill bit 2 in real time by using the pilot 3 and feed back heading information to the driller at any time so as to control the drilling direction.
Claims (10)
1. A method for calculating the ground heading of a drilling route of a drilling system, the drilling system comprising a guiding instrument (3) with GPS data acquisition function, characterized in that: the method comprises the following steps:
1) Recording the data of the current point on the drilling route, and obtaining GPS coordinate data (La, ln) of the current point by using a guiding instrument (3);
2) Performing ground plane projection operation on the GPS coordinate data (La, ln) to obtain plane coordinates (x, y), and storing the plane coordinates (x, y) and the original GPS coordinate data (La, ln) together;
3) Judging whether the current point is a starting point of drilling route construction, if so, entering step 3.1); if not, go to step 3.2);
3.1 Initializing the yaw angle P to 0, and storing the yaw angle record;
3.2 Calculating the yaw angle P of the current point according to the following formula:
P=atan ((x-x -1)/(y-y-1)), where (x -1,y-1) is the plane coordinate of the previous point; storing the yaw angle record;
4) The yaw angle change delta = P-P -1 is calculated, where P -1 is the yaw angle of the previous point.
2. The drilling route ground heading calculation method of a drilling system according to claim 1, characterized by: the guide instrument (3) comprises a subsurface locator (31) capable of receiving position information of a probe (4) of a drilling system and a surface locator (32), wherein the surface locator (32) comprises a first GPS receiver (321).
3. The drilling route ground heading calculation method of a drilling system according to claim 2, characterized by: the ground positioner (32) further comprises a differential data receiver (322) and a GPS correction calculation module (324), 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 (324); the drilling system further comprises a fixed base point corrector (5), wherein 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), the output ends of the second GPS receiver (51) and the base point position input module (54) are connected to the input end of the differential computing module (52), and the output end of the differential computing module (52) is connected to the input end of the differential data transmitter (53); in step 1), GPS position information is acquired by a first GPS receiver (321) of the guide instrument (3) on the current point, and the acquired GPS is corrected by a GPS correction calculation module (324) by a fixed base point corrector (5).
4. The drilling route ground heading calculation method of a drilling system according to claim 1, characterized by: the method is implemented on a comprehensive display and calculation device, the comprehensive display and calculation device comprises a user interface (91), a yaw angle calculation module (92) for calculating a yaw angle according to GPS data of a guider (3) and a drill rod data recording module (95) for storing the yaw angle into a storage device, and the yaw angle calculation module (92) and the drill rod data recording module (95) are connected with the user interface (91).
5. The drilling route ground heading calculation method of a drilling system according to claim 4, characterized by: the comprehensive display and calculation device further comprises a horizontal inclination angle acquisition module (94) capable of acquiring an inclination angle from the guide instrument (3), and the horizontal inclination angle acquisition module (94) is connected with the user interface (91).
6. A method for calculating the ground heading of a drilling route of a drilling system, the drilling system comprising a guiding instrument (3) with GPS data acquisition function, characterized in that: the method comprises the following steps:
1) Acquiring current GPS coordinate data (La, ln) in real time by using a guiding instrument (3), and not recording;
2) Performing ground plane projection operation on the GPS coordinate data (La, ln) to obtain plane coordinates (x, y), and storing the plane coordinates (x, y) and the original GPS coordinate data (La, ln) together;
3) Judging whether the current point is a construction starting point or not, if so, entering a step 3.1); if not, go to step 3.2);
3.1 Initializing the yaw angle P to 0, and storing the yaw angle record;
3.2 Calculating the yaw angle P of the current point according to the following formula:
P=atan ((x-x -1)/(y-y-1)), where (x -1,y-1) is the plane coordinate of the previous point; storing the yaw angle record;
4) The yaw angle change delta = P-P -1 is calculated, where P -1 is the yaw angle of the previous point, and then back to step 1) until the end of the current drill pipe drilling.
7. The drilling route ground heading calculation method of a drilling system according to claim 6, characterized by: the guide instrument (3) comprises a subsurface locator (31) capable of receiving position information of a probe (4) of a drilling system and a surface locator (32), wherein the surface locator (32) comprises a first GPS receiver (321).
8. The drilling route ground heading calculation method of a drilling system according to claim 7, characterized by: the ground positioner (32) further comprises a differential data receiver (322) and a GPS correction calculation module (324), 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 (324); the drilling system further comprises a fixed base point corrector (5), wherein 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), the output ends of the second GPS receiver (51) and the base point position input module (54) are connected to the input end of the differential computing module (52), and the output end of the differential computing module (52) is connected to the input end of the differential data transmitter (53); in step 1), GPS position information is acquired by a first GPS receiver (321) of the guide instrument (3) on the current point, and the acquired GPS is corrected by a GPS correction calculation module (324) by a fixed base point corrector (5).
9. The drilling route ground heading calculation method of a drilling system according to claim 6, characterized by: the method is implemented on a comprehensive display and calculation device, the comprehensive display and calculation device comprises a user interface (91), a yaw angle calculation module (92) for calculating a yaw angle according to GPS data of a guider (3) and a drill rod data recording module (95) for storing the yaw angle into a storage device, and the yaw angle calculation module (92) and the drill rod data recording module (95) are connected with the user interface (91).
10. The drilling route ground heading calculation method of a drilling system according to claim 9, characterized by: the comprehensive display and calculation device further comprises a horizontal inclination angle acquisition module (94) capable of acquiring an inclination angle from the guide instrument (3), and the horizontal inclination angle acquisition module (94) is connected with the user interface (91).
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