Method for connecting upper and lower coordinate systems of deep mining well on basis of pseudolite and inertial information

Abstract

The invention discloses a method for connecting upper and lower coordinate systems of a deep mining well on the basis of pseudolite and inertial information. The method comprises the following steps of: firstly distributing a plurality of pseudolite launchers on the characteristic points of different directions of the upper part of a shaft according to a cross-section diagram of the mining well, and determining coordinates of the pseudolite launchers by utilizing a total station; respectively fixing an inertial measurement system at the two ends of the top part of a tank cage, measuring initial coordinates of inertial measurement units by adopting the total station, respectively and accurately measuring lever-arm values relative to the centers of the inertial measurement units by using thetotal station; obtaining pseudorange and carrier phase observation values by the pseudolite launchers distributed on the inner wall of the shaft; obtaining angular velocity and acceleration information by utilizing the inertial measurement units; carrying out tight-combination data resolving on the stored inertial data and pseudolite data by utilizing a PC terminal. The method disclosed by the invention has the advantages that the observation values with high accuracy can be rapidly obtained by utilizing the tank cage device, so that the disadvantages of the traditional methods restricted bytemperature, humidity and construction are overcome, the labor and materials are saved and the production is ensured.

Description

technical field [0001] The invention relates to a method for connecting the upper and lower coordinate systems of a well, in particular to a method for connecting the upper and lower coordinate systems of a deep mining well based on pseudolites and inertial information. Background technique [0002] For deep precision mining, spatial reference can provide an important basis for underground mining operation, safety early warning and disaster decision-making. The mine spatial benchmark requires that the upper and lower coordinate systems of the mine be consistent, and the above-ground coordinate system is introduced into the underground, that is, contact measurement. However, for deep shafts, the depth of the mine is relatively large, and the temperature, light, humidity and other factors in the mine bring difficulties to the connection measurement, and the measurement accuracy is limited. [0003] Traditional contact measurement is mainly divided into plane contact measureme...

AI Technical Summary

Problems solved by technology

[0004] The traditional method has higher requirements on the measurement environment. The connecting triangle method requires simultaneous measurement up and down the well to ensure accuracy, and takes a long time in the wellbore; the gyroscope azimuth method has higher requirements on the environment, and each measurement takes a long time. The mining activities near the wellbore must be stopped, the instruments are expensive, and the measurement accuracy is highly related to the stability of the steel wire. For deep mining, the stability of the steel wire is limited; the elevation contact measurement faces the same situation. The environment poses challenges to the measurement of long steel rulers, long steel wires, and photoelectric distance meters. The stretching and verticality of steel rulers and steel wires are related to temperature and materials. Factors such as dust and water vapor in the wellbore will increase photoelectric distance measurement. ranging error

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