Unlock instant, AI-driven research and patent intelligence for your innovation.

Heading and Attitude Calculation Method Based on Incomplete Measurement Vector

An incomplete and vector technology, applied in measuring devices, navigation through speed/acceleration measurement, surveying and navigation, etc., can solve the problems of increasing application costs, not being able to determine the only solution of attitude parameters, and not being suitable for long-term use, etc., to achieve The effect of improving usability

Active Publication Date: 2021-07-27
SHENGLI COLLEGE CHINA UNIV OF PETROLEUM +1
View PDF1 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

To solve this problem, literature 1 (Fan Guangdi, Pu Wenxue, Zhao Guoshan. Correction method for axial magnetic interference of magnetic inclinometer while drilling[J]. Petroleum Drilling Technology, 2017,45(4):121-126.) used The modulus constraint estimates the missing component and then completes the attitude calculation. This method cannot determine the unique solution of the attitude parameter and can only be used when one component is missing.
Document 2 (SOO Y B, SUNG H M, HYUNWOOK W. Sensor-fault tolerant attitude determination using two-stage estimator[J]. Advances in Space Research, 2019, 63, 3632-3645.) uses gyroscope measurement information to restore vector measurement of missing information, This method requires the use of gyro sensors. On the one hand, it increases the application cost. On the other hand, the angular velocity information measured by the gyro only contains relative attitude information and has cumulative errors, so it is not suitable for long-term use.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Heading and Attitude Calculation Method Based on Incomplete Measurement Vector
  • Heading and Attitude Calculation Method Based on Incomplete Measurement Vector
  • Heading and Attitude Calculation Method Based on Incomplete Measurement Vector

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0084] In the reference coordinate system a r =[0,0,9.8] T , m r = [-3627,29344,44065] T , the accelerometer complete measurement vector a b =[-4.85,-1.72,8.35] T , the complete measurement vector m of the magnetic sensor b = [44236,20482,-21503] T . In the above quantities, the unit of acceleration vector is m / s 2 , the unit of the magnetic vector is Nant. From formula (1) to formula (10), the reference value of heading angle is 65.85 degrees, the reference value of pitch angle is 29.64 degrees, and the reference value of roll angle is -11.61 degrees.

[0085] remove m bz , making the geomagnetic measurement vector missing a component. The attitude calculation process is as follows:

[0086] (1)m bx 2 +m by 2 =2.3763×10 9 , ,therefore,

[0087] (2) From formula (18), we can get =-20968

[0088] (3)a bz =8.35, because |a bz |≥ T 1 , so construct an estimate of the geomagnetic survey vector [44236,20482,-20968] T

[0089] (4) From formula (1) to fo...

Embodiment 2

[0092] In the reference coordinate system a r =[0,0,9.8] T , m r = [-3627,29344,44065] T , Accelerometer complete measurement vector a b =[2.62,-9.43,0.12] T , the complete measurement vector m of the magnetic sensor b = [9408,48577,19600] T . In the above quantities, the unit of acceleration vector is m / s 2 , the unit of the magnetic vector is Nant. From formula (1) to formula (10), the reference value of heading angle is 54.47 degrees, the reference value of pitch angle is -15.53 degrees, and the reference value of roll angle is -89.27 degrees.

[0093] remove m bz Makes the geomagnetic survey vector missing a component. The attitude calculation process is as follows:

[0094] (1)m bx 2 +m by 2 =2.4482×10 9 , ,therefore,

[0095] (2) From formula (18), we can get =19176

[0096] (3) abz=0.12, because |abz|1 , so construct estimates of geomagnetic survey vectors [9408, 48577, 19176] T with [9408,48577,-19176] T

[0097] (4) From formula (1) to form...

Embodiment 3

[0100] In the reference coordinate system a r =[0,0,9.8] T , m r = [-3627,29344,44065] T , the accelerometer complete measurement vector a b =[9.40,-2.62,-1.00] T , the complete measurement vector m of the magnetic sensor b = [-34476,31212,25604] T . In the above quantities, the unit of acceleration vector is m / s 2 , the unit of the magnetic vector is Nant. From formula (1) to formula (10), the reference value of heading angle is 71.66 degrees, the reference value of pitch angle is -73.39 degrees, and the reference value of roll angle is -110.96 degrees.

[0101] remove m by with m bz , making the geomagnetic measurement vector missing two components. The attitude calculation process is as follows:

[0102] (1) From formula (21), it can be obtained that △=1.1446×10 9 , therefore, △> T 2

[0103] (2)a by 2 +a bz 2 =7.85, therefore, a by 2 +a bz 2 > T 3

[0104] (3) Take the absolute value of △

[0105] (4) From equations (19) and (20), we can get =...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention belongs to the technical field of attitude calculation, especially the attitude calculation method based on incomplete measurement vectors, including when a sensor failure or interference causes a b or m b When incomplete, the measured values ​​of the gravitational acceleration vector and the geomagnetic vector in the object coordinate system and the coordinate values ​​of the corresponding vectors in the reference coordinate system satisfy the three-dimensional Cartesian coordinate transformation relationship, which is an equal-area transformation, that is, the transformation does not change the vector modulus and the dot product between different vectors; the attitude calculation of the present invention only uses vector sensor data and does not require other sensors such as gyroscopes, and the calculation process does not include iterative operations, which makes the implementation cost of the solution method low and the calculation process consumes short time.

Description

technical field [0001] The invention relates to the technical field of heading and attitude calculation, in particular to a heading and attitude calculation method based on incomplete measurement vectors. Background technique [0002] In the process of oil directional drilling, it is necessary to detect the trajectory of the wellbore to ensure drilling to the predetermined target point according to the predetermined trajectory. The detection of borehole trajectory requires attitude calculation at multiple points. The attitude parameters include coordinate transformation matrix, Euler angle, quaternion, etc., which describe the angular position of the object coordinate system in a certain reference coordinate system. The attitude calculation when detecting the borehole trajectory refers to using the accelerometer and magnetic sensor mounted on the drill string measurement unit to measure the gravitational acceleration vector and the geomagnetic vector, and use the vector meas...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/08G01C21/16
CPCG01C21/08G01C21/165
Inventor 石岗梁东鑫陈洪帅薛善强
Owner SHENGLI COLLEGE CHINA UNIV OF PETROLEUM