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In-hole positioning method of positioning and orientation instrument suitable for long-distance horizontal core drilling rig

A positioning and orientation instrument, long-distance technology, applied in earthwork drilling, navigation and measurement through speed/acceleration measurement, etc., can solve the problems of increasing positioning error of inertial measurement unit and affecting the control accuracy of drilling path

Active Publication Date: 2021-02-26
NAT UNIV OF DEFENSE TECH
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the case of long-distance horizontal drilling, when there is no external information in the hole, the positioning error of the inertial measurement unit will continue to increase with the prolongation of the working time, which will affect the control accuracy of the drilling path

Method used

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  • In-hole positioning method of positioning and orientation instrument suitable for long-distance horizontal core drilling rig
  • In-hole positioning method of positioning and orientation instrument suitable for long-distance horizontal core drilling rig
  • In-hole positioning method of positioning and orientation instrument suitable for long-distance horizontal core drilling rig

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Embodiment Construction

[0066] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0067] Such as figure 1 As shown, the positioning method in the hole of the positioning and orientation instrument is suitable for long-distance horizontal core drilling rigs. By combining the working characteristics of long-distance horizontal core drilling rigs, the working mode of the corer is reasonably planned, and all the measurements saved by the positioning and orientation instrument are fully utilized. Data, build a sequence of reverse measurement data, perform forward and reverse autonomous navigation and positioning based on the non-holonomic constrained Kalman filter, suppress and correct positioning errors combined with zero-speed correction, and use the differences in the characteristics of forward and reverse autonomous navigation and positioning errors to complement each other The average positioning result is used as ...

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Abstract

The invention belongs to the field of geological prospecting, and discloses an in-hole positioning method of a positioning and orientating instrument suitable for a long-distance horizontal coring drilling machine. The method comprises the steps of combining working characteristics of a long-distance horizontal coring drilling machine, reasonably planning the working mode of a coring device, fullyutilizing all measurement data stored by a positioning and orientating instrument, constructing a reverse measurement data sequence, carrying out forward and reverse autonomous navigation positioningbased on an incomplete constraint Kalman filter, carrying out inhibition correction on a positioning error by combining zero-speed correction, and improving the positioning precision by taking an average positioning result as a drilling path track by utilizing difference complementarity of forward and reverse autonomous navigation positioning error characteristics. The method can meet the requirements of geological exploration in plateau alpine regions, and provides powerful support for comprehensively and accurately mastering geological information along railways in the plateau alpine regions.

Description

technical field [0001] The invention belongs to the field of geological exploration, and relates to an in-hole positioning method for a core drilling rig in the exploration process, in particular to an in-hole positioning method for a positioning and orientation instrument suitable for long-distance horizontal core drilling rigs. Background technique [0002] The Sichuan-Tibet Railway is a high-speed railway connecting Sichuan Province and the Tibet Autonomous Region in my country. During the construction process, it needs to face construction problems such as high mountains, terrain height differences, and complex geology, and the construction is extremely difficult. In order to eliminate the terrain height difference, it is necessary to use more high bridges and tunnels, so that the bridge-tunnel ratio of the entire Sichuan-Tibet Railway will reach more than 80%. In order to ensure the construction quality, it is necessary to comprehensively and accurately grasp the geolog...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/20E21B47/09
CPCE21B47/09G01C21/16G01C21/20
Inventor 王林张永健高春峰罗晖袁保伦魏国李耿樊振方熊振宇周盟孟
Owner NAT UNIV OF DEFENSE TECH