Full-space error compensation method for mine inclinometer

Abstract

The invention discloses a whole-space error compensation method of a mining inclinometer. The method comprises the steps that at least six different measuring points are selected in the whole space, a correction coefficient of an inner pipe error is determined according to collected three-axis acceleration of the measuring points and values of a three-axis magnetic sensor, and a measurement parameter of a drilling hole is calculated again according to the correction coefficient of the inner pipe error finally; a measuring inner pipe is arranged in an installation outer pipe and is rotated by one circle in two mutually perpendicular planes of the installation outer pipe, values of the three-axis magnetic sensor at different angles are collected at the same time, fitting of two planes is conducted on the collected values of the three-axis magnetic sensor at different angles is conducted according to a least square method, two angles of an installation error are determined according to the two planes obtained through fitting, and then calculation is conducted on drilling gestures. By means of the whole-space error compensation method of the mining inclinometer, the problem that due to the fact that for an existing mining inclinometer, a coordinate system formed by the measuring inner pipe and a carrier coordinate system of the installation outer pipe are not orthogonal, the measuring result is poorer is solved, the installation error in the installation process is compensated, and the whole-space drilling inclinometry system error can be compensated rapidly and effectively.

Description

technical field [0001] The invention belongs to the technical field of inclinometer error compensation, and in particular relates to a full-space error compensation method for a mining inclinometer. Background technique [0002] At present, my country has become the largest country in coal production and consumption, and the safety of coal mines has attracted more and more attention from the state. The large-area application of borehole inclinometers in coal mine construction and gas drainage has greatly improved the efficiency of gas drainage and reduced coal mine safety accidents. Mine borehole inclinometers usually use a three-axis magnetic sensor to measure the magnitude of the earth's magnetic field to determine the borehole orientation, and at the same time use a built-in three-axis acceleration sensor to calculate the borehole inclination and tool face angle. However, the measurement environment of the borehole inclinometer is harsh, including various interfering mag...

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Problems solved by technology

In 2003, Yang Xinyong, Huang Shengguo and others from Nanjing University of Aeronautics and Astronautics proposed a compensation method based on an ellipse assumption error model. The method is simple and feasible but can only correct environmental errors

In 2003, Li Xisheng and Wang Jiaxin used the calibration method of least squares linear fitting in the paper "Development of High-precision Electronic Compass". This method is greatly affected by the amount of data, and too much or too little data may cause compensation less effective

In 2003, Hu Haibin, Lin Chunsheng and others from the Naval Engineering University optimized the parameters in the model and constructed a method for the objective function to use the conjugate gradient in mathematical optimization to obtain higher accuracy, but the method is more complicated and the amount of data is larger

[0004] In summary, although the above method has achieved certain compensation effects, due to the particularity of the objects in the coal mine field, the above error compensation method cannot be fully applied to the coal mine field

Mining borehole inclinometers are usually composed of two parts: the inner tube for measurement and the outer tube for installation; due to the heavy weight and large volume of the outer tube for installation, it cannot be calibrated together with the inner tube for calibration

The existing error compensation method is to calibrate and measure the inner tube first, and then assemble it into the outer tube connected with the drill pipe to measure the drilling trajectory. New installation errors, reducing measurement accuracy

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