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煤矿井下开孔定向仪寻北系统误差分析及补偿
Error analysis and compensation of north-seeking system of drilling orientation device in underground coal mine
【索引】燕斌,程建远,蔡远利,等.煤矿井下开孔定向仪寻北系统误差分析及补偿[J].工矿自动化,2019,45(8):92-96.
【Reference】YAN Bin, CHENG Jianyuan, CAI Yuanli, et al. Error analysis and compensation of north-seeking system of drilling orientation device in underground coal mine[J].Industry and Mine Automation,2019,45(8):92-96.
【DOI】10.13272/j.issn.1671-251x.2019030034
【作者】 燕斌1,2,程建远2,蔡远利1,李萍2,冯宏2
【Author】 YAN Bin1,2,CHENG Jianyuan2,CAI Yuanli1,LI Ping2,FENG Hong2
【作者机构】1.西安交通大学 电子与信息工程学院, 陕西 西安710077;2.中煤科工集团西安研究院有限公司, 陕西 西安710077
【Unit】1.School of Electronics and Information Engineering, Xi'an Jiaotong University, Xi'an 710077,China; 2.CCTEG Xi'an Research Institute, Xi'an 710077, China
【摘要】针对现有钻机开孔定位装备在测量精度、成本及操作性上不能满足实际需求的问题,设计了一种将基于单轴光纤陀螺的寻北系统与基于微惯性测量单元的跟踪系统相结合的新型钻孔开孔定向仪。以四位置寻北方法为例,介绍了寻北系统的基本原理,并从光纤陀螺的输出误差、安装误差、倾斜角误差、转位误差、地球物理量误差等方面介绍了寻北系统的各种误差及来源。针对安装误差和倾斜角误差,建立了非线性加速度误差补偿模型;针对光纤陀螺的随机漂移误差,采用卡尔曼滤波方法进行修正。实验结果表明,减小倾斜角、光纤陀螺随机漂移误差、转动机构转位误差、安装误差均可有效提高开孔定向仪寻北精度,满足煤矿井下钻探需求。
【Abstract】In view of problem that existing drilling orientation device for drilling rig can not meet actual demand in terms of measurement accuracy, cost and operability, a drilling orientation device for drilling rig was designed which combines north-seeking system based on single-axis fiber optic gyroscope with tracking system based on micro-inertial measurement unit. Basic principle of north-seeking system was introduced taking four-position north-seeking method as an example, and various errors and their resources of the north-seeking system were introduced from aspects of output error of fiber optic gyroscope, installation error, inclination error, inversion error and geophysical quantity error. A nonlinear acceleration error compensation model was established for installation error and inclination error. Kalman filter method was used to correct random drift error of fiber optic gyroscope. The experimental results show that the reduction of inclination angle, random drift error of fiber optic gyroscope, mechanism rotation error and installation error can effectively improve north-seeking accuracy of drilling orientation device and meet drilling requirements of underground coal mine.
【关键词】 井下钻探; 钻机开孔定向仪; 寻北系统; 单轴光纤陀螺; 四位置寻北; 误差补偿
【Keywords】underground drilling; drilling orientation device for drilling rig; north-seeking system; single-axis fiber optic gyroscope; four-position north-seeking; error compensation
【文献出处】工矿自动化,2019年8期
【基金】中煤科工集团西安研究院有限公司科技创新基金项目(2015XAYZD15,2016XAYZD04)
【分类号】TD41
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