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Mine gyro clinometer strapdown inertial navigation system attitude calculation and zero-speed correction method

A technology of gyro inclinometer and strapdown inertial navigation, which is used in surveying and navigation, navigation through speed/acceleration measurement, instruments, etc., and can solve problems such as difficulty in implementation

Inactive Publication Date: 2017-10-03
TAIYUAN UNIV OF TECH
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Problems solved by technology

Geomagnetic navigation technology needs to know the local geomagnetic database, which is difficult to realize in actual production

Method used

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  • Mine gyro clinometer strapdown inertial navigation system attitude calculation and zero-speed correction method
  • Mine gyro clinometer strapdown inertial navigation system attitude calculation and zero-speed correction method
  • Mine gyro clinometer strapdown inertial navigation system attitude calculation and zero-speed correction method

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Embodiment 1

[0089] The strapdown inertial navigation solution and zero-speed correction algorithm provided by the present invention are suitable for strapdown inertial navigation systems composed of various types of gyroscopes, and the strapdown inertial navigation system composed of MEMS gyroscopes and MEMS accelerometers is used as an example. .

[0090] The hardware circuit structure diagram of the gyro inclinometer of the present invention is as follows: image 3 As shown, it includes a sensor data acquisition module, a single-chip minimum system, a temperature detection module, a CAN communication module, and a storage module. Among them, the attitude sensors are set to collect data every 0.1S, and the arrangement of the sensitive axes is as follows Figure 4 shown. The gyro inclinometer is fixed on the three-axis turntable. After completing the attitude angle setting of the turntable, the system is powered on and preheated for five minutes. After five minutes, the attitude sensor ...

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Abstract

The invention relates to a mine gyro clinometer strapdown inertial navigation system attitude calculation and zero-speed correction method, wherein the measurement data of an attitude sensor is used as input information, the mechanical arrangement equation of a strapdown inertial navigation system is solved through different orders of Runge-Kutta methods, the attitude angle information and the position information of a current drill bit are real-timely output, and the cumulative error of the strapdown inertial navigation system is eliminated through a zero-speed correction algorithm. According to the present invention, the gyroscope and the accelerometer are used as the measurement unit of the strapdown inertial navigation system, the mechanical arrangement equation of the strapdown inertial navigation system is solved through the different orders of the Runge-Kutta methods, the attitude angle information and the position information of the current drill bit are real-timely output, the magnetometer is used as the external assisted measurement device to eliminate the cumulative error produced after the long-time work of the strapdown inertial navigation system, and the combination navigation of the multi-sensor is achieved through the zero-speed correction algorithm, such that the accuracy of the drill bit trajectory measurement can be improved.

Description

technical field [0001] The invention relates to a method for calibrating the trajectory of a measurement-while-drilling system of a mining directional drilling rig, in particular using the measurement data of an attitude sensor as input information, and solving the mechanical arrangement equation of a strapdown inertial navigation system through different orders of Runge-Kutta methods , output the current drill bit attitude angle information and position information in real time, and eliminate the cumulative error of the strapdown inertial navigation system through the zero-speed correction algorithm. Background technique [0002] Measurement while drilling technology is one of the key technologies of controlled directional drilling. With the development of comprehensive mechanized coal mining technology in my country's coal mines, directional drilling rigs are often used to drill horizontal directional long holes to conduct gas pre-drainage and water exploration and drainag...

Claims

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Application Information

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IPC IPC(8): G01C21/18G01C21/16G01C21/08G01C25/00
CPCG01C21/08G01C21/165G01C21/18G01C25/005
Inventor 宋建成许春雨刘宗伟王明哲
Owner TAIYUAN UNIV OF TECH
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