A rapid calibration device and method based on multi-edged drill rod

Abstract

The present invention provides a rapid calibration device and method based on a multi-faceted drill rod. The rapid calibration device includes a drill rod and a computer. The drill rod has an embedded data acquisition circuit and is electrically connected to the computer. The data acquisition circuit is used to collect calibration coefficients of calibration positions and upload them to the computer. The computer is used to perform data processing on the calibration coefficients to obtain correction coefficients. The drill rod is multi-faceted, and the number of edges of the drill rod is n. The rapid calibration device also includes a disk. A plurality of first baffles are provided on the disk along its circumference. Each of the first baffles is arranged along the radial direction of the disk, and the length of each first baffle is less than the radius of the disk. Each first baffle divides the disk into n equal parts. The disk is also provided with a multi-faceted through hole. The central axis of the multi-faceted through hole is collinear with the central axis of the disk. The number of edges of the multi-faceted through hole is n. The multi-faceted through hole matches the drill rod. The disk is provided with a true north guide line along its radial direction, wherein n≥3.

Description

Technical Field

[0001] The invention belongs to the field of underground coal mine drilling, and in particular relates to a rapid calibration device and method based on a polygonal drill rod. Background Art

[0002] Coal mines are a vital pillar of my country's national economy. Coal mine safety is of paramount importance, severely impacting the lives of miners. Among coal mine accidents, gas and water hazards are the two most significant. Drilling technology is one of the most direct and effective means of managing and preventing coal and gas outbursts and water hazards. With technological advancements, drilling technology has evolved from conventional drilling to directional drilling. Trajectory measurement and control during directional drilling are two of the most critical aspects of the drilling process. Drill trajectory measurement is typically constructed using the drilling posture and depth of discrete points. Therefore, the accuracy of drilling posture measurement determines the precise measurement of the drilling trajectory.

[0003] The drilling trajectory is measured based on the principle of Earth's magnetic field. A triaxial magnetic sensor and a triaxial accelerometer are installed within the cylindrical drill pipe. A microprocessor collects data and calculates the three parameters: inclination, tool roll, and azimuth. In practice, the triaxial accelerometer and triaxial magnetic sensor inherently have zero-point and linearity errors, and both sensors are subject to certain installation errors. Therefore, to ensure a high level of measurement accuracy, both sensors must be calibrated and their error coefficients determined.

[0004] Currently, calibration of attitude measurement drill pipes requires the use of a dedicated standard turntable. During calibration, the drill pipe is mounted on the dedicated standard turntable, requiring two people to perform the operation: one person operates the standard turntable, rotating it at multiple points in space, while the other uses sensors to collect attitude data. To ensure the operator can accurately adjust the turntable, sufficient time must be reserved between each measurement point. The collected data is then used to calculate the error coefficient using a relevant algorithm, and then calculated to obtain the corrected inclination, tool roll, and azimuth parameters. This calibration process requires two people, and sufficient time interval must be left between each point for the operator to adjust the turntable and collect data. Therefore, when the number of calibration points is large, the labor cost is enormous. Because each turntable point is manually adjusted, calibration errors are present. The greater the number of points, the greater the error, resulting in lower accuracy. In severe cases, this can lead to calibration failure, making it unsuitable for large-scale equipment production. Furthermore, depending on the accuracy and degree of automation, the turntable is expensive, and its widespread and universal application is limited. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a rapid calibration device and method based on a multi-edged drill rod to solve the problems in the prior art.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A rapid calibration device based on a multi-faceted drill rod comprises a drill rod and a data acquisition circuit embedded in the drill rod. The drill rod is multi-faceted, and the number of edges of the drill rod is n. The rapid calibration device also comprises: a disk and a computer. The disk is provided with a plurality of first baffles along its circumference, each of the first baffles is arranged along the radial direction of the disk, and the length of each first baffle is less than the radius of the disk. Each first baffle divides the disk into n equal parts. The disk is also provided with a multi-faceted through hole, the central axis of the multi-faceted through hole is collinear with the central axis of the disk, the number of edges of the multi-faceted through hole is n, the multi-faceted through hole matches the drill rod, and the disk is provided with a true north guide line along its radial direction, wherein n≥3; the computer is electrically connected to the data acquisition circuit embedded in the drill rod.

[0008] The rapid calibration device also includes a base, a level adjuster and a level display. The level adjuster is arranged on the base, and the level display is arranged on one side of the disc where the first baffle is provided.

[0009] The rapid calibration device further includes two support frames, which are symmetrically arranged on the drill rod along the center of the drill rod, and the distance between the two support frames matches the diameter of the disc;

[0010] The limiting baffle is arranged on a side of the multi-faceted through hole away from the first baffle, and the limiting baffle is provided with a through hole.

[0011] The method adopts the above-mentioned calibration device, and the specific steps of the method include:

[0012] Step 1: Mark the multiple faces of the drill pipe in order, and mark each face of the drill pipe as: n1, n2, n3...n n , mark the n equal parts of the disk in turn, and record the equal parts of the disk as m1, m2, m3...m n , initializing the calibration device;

[0013] Step 2: Power on the calibration device to enable the data acquisition circuit to process the continuous working state;

[0014] Step 3: Acquisition of horizontal state calibration coefficients;

[0015] Starting from the limit baffle of area m1, after the n1 surface of the drill pipe is attached to the A surface of the first baffle in area m1, the first set of horizontal state calibration coefficients are collected and recorded. After completion, the drill pipe is rotated so that the n2 surface is closely attached to the A surface of the limit baffle in area m1, and the second set of coefficients are collected and recorded. Similarly, the calibration coefficients of the n surfaces of the drill pipe in area m1 are collected. After completion, the drill pipe is moved to the first baffle position in area m2, and closely attached to the A surface of the first baffle to complete the calibration coefficient collection of the n surfaces of the drill pipe in area m2. Similarly, the calibration coefficient collection of m areas is completed.

[0016] Step 4: vertical state calibration coefficient collection;

[0017] Insert one end of the drill rod into the multi-faceted through hole, install the limit baffle, and place the drill rod n1 surface corresponding to the multi-faceted through hole 1 surface. Perform the first set of vertical state calibration coefficient collection and record. After completion, rotate the drill rod so that the drill rod n2 surface is placed corresponding to the multi-faceted through hole 1 surface. Perform the second set of vertical state calibration coefficient collection. Repeat this process to complete the collection of calibration coefficients for n surfaces of the drill rod and record them. Then, insert the other end of the drill rod into the multi-faceted through hole, install the limit baffle, and follow the same steps as above to complete the collection of calibration coefficients for the other end of the drill rod n surfaces and record them.

[0018] Step 5: Obtain the optimal correction coefficient matrix of the three-axis acceleration sensor:

[0019]

[0020] in, is the optimal correction coefficient matrix of the three-axis acceleration sensor, is the output vector matrix of the three-axis acceleration sensor, is the standard quantity matrix of the three-axis acceleration sensor position;

[0021] Obtain the optimal correction coefficient matrix of the three-axis magnetic sensor:

[0022]

[0023] in, is the optimal correction coefficient matrix of the three-axis magnetic sensor, is the three-axis magnetic sensor output vector matrix, is the three-axis magnetic sensor position standard quantity matrix, for The transformation matrix of

[0024] All three-axis acceleration sensor output vector matrices in step 3 and step 4 Substituting into (1), we can get Specific expression of the optimal correction coefficient matrix of the triaxial acceleration sensor;

[0025] All three-axis magnetic sensor output vector matrices in step 3 and step 4 are combined Substituting into (2), we can get Specific expression of the optimal correction coefficient matrix of the three-axis magnetic sensor;

[0026] Step 6: The specific expression of the optimal correction coefficient matrix of the three-axis acceleration sensor and the specific expression of the optimal correction coefficient matrix of the three-axis magnetic sensor obtained in step 5 are transmitted to the drill rod, and the output vector matrix of the three-axis acceleration sensor collected during the drill rod operation is converted to and the three-axis magnetic sensor output vector matrix By substituting the specific expressions of the optimal correction coefficient matrix of the three-axis acceleration sensor and the optimal correction coefficient matrix of the three-axis magnetic sensor into the specific expressions, high-precision posture information of the drill rod can be calculated.

[0027] In step 3, when collecting the horizontal state calibration coefficient, there are a total of m×n collection positions as the disk surface switches with the n surfaces of the drill rod. The output vectors of the acceleration sensor and magnetic sensor at the i-th position point among the n surfaces of the drill rod in the q-th area among the m areas on the disk can be expressed as:

[0028] Three-axis accelerometer:

[0029]

[0030]

[0031]

[0032] Where, is the output vector of the three-axis accelerometer sensor, is the position standard of the three-axis acceleration sensor, C * K is the zero offset error coefficient of the three-axis acceleration sensor, a*1 , K a*2 K is the installation error coefficient of the triaxial acceleration sensor. a*3 , K a*4 is the linearity error coefficient of the three-axis acceleration sensor, S a* is the sensitivity error coefficient of the three-axis acceleration sensor, is the random error of the triaxial accelerometer, * = x, y, z, corresponding to the three axes of the triaxial accelerometer;

[0033] Three-axis magnetic sensor:

[0034]

[0035]

[0036]

[0037] Where, is the magnetic sensor output vector, is the standard value of magnetic sensor position, D * is the zero offset error coefficient of the magnetic sensor, K g*2 , K g*3 is the magnetic sensor installation error coefficient, S g* is the sensitivity error coefficient of the magnetic sensor, is the random error of the magnetic sensor, * = x, y, z, corresponding to the three axes of the three-axis magnetic sensor;

[0038] In step 4, when performing vertical state calibration, there are 2n positions at both ends of the drill rod on the multi-faceted through hole. The output vectors of the three-axis acceleration sensor and the three-axis magnetic sensor at the j-th hole surface position point can be expressed as:

[0039] Three-axis accelerometer:

[0040]

[0041]

[0042]

[0043] Where, is the output vector of the three-axis accelerometer sensor, is the position standard of the three-axis acceleration sensor, C * K is the zero offset error coefficient of the three-axis acceleration sensor, a*1 , K a*2 K is the installation error coefficient of the triaxial acceleration sensor. a*3 , K a*4 is the linearity error coefficient of the three-axis acceleration sensor, S a* is the sensitivity error coefficient of the three-axis acceleration sensor, is the random error of the triaxial accelerometer, * = x, y, z, corresponding to the three axes of the triaxial accelerometer;

[0044] Three-axis magnetic sensor:

[0045]

[0046]

[0047]

[0048] Where, is the sensor output vector of the three-axis magnetic sensor, is the standard value of the three-axis magnetic sensor position, D * is the zero offset error coefficient of the three-axis magnetic sensor, K g*2 , K g*3 is the installation error coefficient of the three-axis magnetic sensor, S g* is the sensitivity error coefficient of the three-axis magnetic sensor, is the random error of the three-axis magnetic sensor, * = x, y, z, corresponding to the three axes of the three-axis magnetic sensor.

[0049] According to the output vector of the three-axis acceleration sensor at the acquisition position point, the coefficient matrix of the three-axis acceleration sensor X axis in all m×n+2n calibration position points is obtained, as shown in the following formula:

[0050]

[0051] The formula can be written as:

[0052] Where, is the output vector matrix of the three-axis acceleration sensor, is the standard quantity matrix of the three-axis acceleration sensor position, is the random error matrix of the three-axis acceleration sensor; is the optimal correction coefficient matrix of the three-axis acceleration sensor;

[0053] According to the least squares theory, we can get The optimal correction coefficient matrix of the triaxial acceleration sensor is:

[0054]

[0055] Where, is the optimal correction coefficient matrix of the three-axis acceleration sensor, is the output vector matrix of the three-axis acceleration sensor, is the standard quantity matrix of the three-axis acceleration sensor position.

[0056] The optimal correction coefficient matrix of the three-axis acceleration sensor of the Y axis and the Z axis can also be obtained using the above method.

[0057] Based on the output vector of the three-axis magnetic sensor at the acquisition position point, the coefficient matrix of the three-axis magnetic sensor X axis in all m×n+2n calibration position points is obtained, as shown in the following formula:

[0058]

[0059] Denoted as:

[0060] Where, is the three-axis magnetic sensor output vector matrix, is the three-axis magnetic sensor position standard quantity matrix, is the random error matrix of the three-axis magnetic sensor; is the optimal correction coefficient matrix of the three-axis magnetic sensor.

[0061] According to the least squares theory, Optimal correction coefficient matrix for three-axis magnetic sensor:

[0062]

[0063] Where, is the correction coefficient matrix of the three-axis magnetic sensor, is the three-axis magnetic sensor output vector matrix, is the three-axis magnetic sensor position standard quantity matrix, for The transformation matrix.

[0064] Similarly, the optimal correction coefficient matrix of the three-axis magnetic sensor of the Y axis and the Z axis can be obtained using the above method.

[0065] In the horizontal state calibration coefficient collection in step 3 and the vertical state calibration coefficient collection in step 4, the number of calibration points D; D = m × n

[0066] In the vertical state calibration coefficient collection in step 4, the number of calibration points E is: E=2n.

[0067] Compared with the prior art, the present invention has the following technical effects:

[0068] (I) The rapid calibration device and method of the present invention have a simple structure and are easy to operate. There is no need for manual operation of the turntable. Only one person is required to adjust the position of the drill rod on the disc. This can avoid calibration equipment and environmental factors, reduce calibration errors and mistakes caused by human operation, and can efficiently, conveniently and accurately realize the position change of the drill rod at multiple points in a uniformly distributed space, thereby realizing the selection and switching of calibration position points and achieving the purpose of calibration correction. Secondly, the time for manual adjustment of the turntable during the calibration process is eliminated, and the time interval between the two calibration points is greatly shortened. For the production of batch equipment, a large amount of time can be saved, and the measurement process does not require dedicated and expensive calibration equipment, which greatly saves the cost of drill rod calibration.

[0069] (II) The rapid calibration device of the present invention has a multi-faceted drill rod structure, which reduces the cross-sectional area of ​​the drill rod itself, thereby increasing the amount of water flowing through the drill rod and improving the load-carrying capacity of the drilling system. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1It is a schematic diagram of the overall structure of the rapid calibration device of the present invention;

[0071] Figure 2 It is a front view of the drill rod of the present invention;

[0072] Figure 3 is a side view of the drill rod of the present invention;

[0073] Figure 4 is a cross-sectional view of a drill rod of the present invention;

[0074] Figure 5 It is a structural schematic diagram of the disc of the present invention;

[0075] Figure 6 It is a structural schematic diagram of the disc of the present invention;

[0076] Figure 7 is a top view of the disc of the present invention;

[0077] Figure 8 It is a schematic diagram of the horizontal state calibration coefficient acquisition state of the rapid calibration device of the present invention;

[0078] Figure 9 This is a top view of the horizontal state calibration coefficient collection state of the rapid calibration device of the present invention;

[0079] Figure 10 1 is a schematic diagram of the calibration coefficient acquisition state of the rapid calibration device of the present invention;

[0080] Figure 11 This is a top view of the rapid calibration device of the present invention in a vertical state calibration coefficient collection state;

[0081] The meaning of each number in the figure is:

[0082] 1-drill rod, 2-data acquisition circuit, 3-disc, 4-first baffle, 5-polygonal through hole, 6-base, 7-level adjuster, 8-level display, 9-support frame, 10-limit baffle, 11-aviation connector, 12-true north guide line.

[0083] The specific contents of the present invention are further explained in detail below with reference to the embodiments. DETAILED DESCRIPTION

[0084] Specific embodiments of the present invention are given below. It should be noted that the present invention is not limited to the following specific embodiments, and all equivalent modifications made on the basis of the technical solution of this application fall within the protection scope of the present invention.

[0085] The directional terms mentioned in this document, such as "transverse", "radial", "axial", "horizontal" and "vertical", are consistent with the specific directions on the paper of the drawings in the specification or the corresponding directions in the space shown in the drawings.

[0086] Example 1:

[0087] This embodiment discloses a rapid calibration device based on a multi-edged drill rod, such as Figure 1-7 As shown, it includes a drill rod 1 and a computer, the drill rod 1 has an embedded data acquisition circuit 2, the embedded data acquisition circuit (2) is electrically connected to the computer, the drill rod 1 is polygonal, and the number of edges of the drill rod 1 is n. The rapid calibration device also includes: a disk 3, a plurality of first baffles 4 are provided on the disk 3 along its circumference, each of the first baffles 4 is arranged along the radial direction of the disk 3, and the length of each first baffle 4 is less than the radius of the disk 3, and each first baffle 4 divides the disk 3n into equal parts, and the disk 3 is also provided with a polygonal through hole 5, the central axis of the polygonal through hole 5 is collinear with the central axis of the disk 3, the number of edges of the polygonal through hole 5 is n, and the polygonal through hole 5 matches the drill rod 1, and the disk is provided with a true north guide line along its radial direction, wherein n≥3.

[0088] Among them, the drill rod 1 of this embodiment has an embedded data acquisition circuit 2 for data acquisition of the calibration position. The drill rod 1 is polygonal or hexagonal, and the first baffle 4 is used to divide the disc into six equal parts. The polygonal through hole 5 is used to insert the two ends of the drill rod into the disc. The rapid calibration device of this embodiment has a simple structure and is easy to operate. There is no need for manual operation of the turntable. Only one person needs to adjust the position of the drill rod on the disc to efficiently, conveniently and accurately realize the position change of multiple points of the drill rod in the uniformly distributed space, thereby realizing the selection and switching of the calibration position points, achieving the purpose of calibration correction, and reducing the calibration error and error caused by human operation. Secondly, the time for manual adjustment of the turntable during the calibration process is eliminated, and the interval time between the two calibration points is greatly shortened. For the production of batch equipment, a lot of time can be saved, and the measurement process does not require dedicated expensive calibration equipment, which greatly saves the cost of drill rod calibration. The data acquisition circuit 2 is connected to the computer through the aviation connector 11. The data acquisition circuit 2 contains a three-axis acceleration sensor, a three-axis magnetic sensor and a circuit board for collecting calibration coefficients and uploading them to the computer.

[0089] As a preferred solution of this embodiment, the rapid calibration device also includes a base 6, a level adjuster 7 and a level display 8. The level adjuster 7 is arranged on the base 6, and the level display 8 is arranged on one side of the first baffle 4 on the disc 3.

[0090] The base 6 provides a stable supporting platform to fix the disc, and the level adjuster 7 and the level display 8 are used to adjust the calibration device to a horizontal state.

[0091] As a preferred solution of this embodiment, the rapid calibration device also includes two support frames 9 and a limit baffle 10. The two support frames 9 are symmetrically arranged on the drill rod 1 along the center of the drill rod 1, and the distance between the two support frames 9 matches the diameter of the disc 3; the limit baffle 10 is arranged on the side of the multi-faceted through hole 5 away from the first baffle 4, and a through hole is provided on the limit baffle 10.

[0092] Among them, the support frame is used to fix the drill rod on the disc, and when the calibration data is continuously collected in the horizontal state, the distance between the two support frames remains unchanged, ensuring that the position of the drill rod in each area of ​​the disc remains the same, thereby improving the accuracy of calibration data collection. When both ends of the drill rod are inserted into the multi-faceted through hole, the limit baffle 10 is used to fix the drill rod and ensure that the position of the drill rod on each hole surface of the multi-faceted through hole remains the same, thereby improving the accuracy of calibration data collection.

[0093] Example 2:

[0094] This embodiment discloses a rapid calibration method based on a multi-edged drill rod, which uses the calibration device of embodiment 1, such as Figure 1-7 As shown, the drill rod is in the shape of a hexagonal prism, and each face of the drill rod has an independent plane number, which is marked from 1 to 6 in sequence. In order to ensure the accuracy of the calibration results, the hexagonal prism side of the drill rod is required to maintain a certain levelness and processing accuracy. The first baffle divides the disk into 6 equal parts. Taking the true north guide line as the reference, the first baffle is set at every 60° in counterclockwise order to form six equal-area areas, and each area has an independent area number, which is numbered from 1 to 6. Each first baffle is divided into two faces, A and B; the multi-faceted through hole is a hexagonal through hole, which is aligned with the first baffle. The baffles are in the same direction, and the hexagon formed by connecting the first baffles in sequence is symmetrically arranged with the hexagonal through hole. The size of the hexagonal through hole matches the drill rod to ensure that the drill rod can be inserted into the hexagonal through hole. The six faces of the hexagonal through hole are numbered from 1 to 6. Before performing calibration measurement, the calibration device is adjusted to a horizontal state through the level adjuster 7 and the level display 8. After the north indicator line is adjusted to point to the north direction through the high-precision north finder, the device of this embodiment is fixed, and the power is started to put the data acquisition circuit in the drill rod in continuous data acquisition mode.

[0095] The specific steps of the calibration method are as follows:

[0096] Horizontal state calibration coefficient collection, such as Figure 8-9As shown, starting from the first baffle position of disk area No. 1, after the drill rod 1 surface is closely attached to the first baffle A surface of disk area No. 1, the drill rod is fixed on the disk by two support frames. The positions of the two support frames on the drill rod remain unchanged during the measurement process, and the output vector data of the first group of horizontal triaxial acceleration sensors and triaxial magnetic sensors are collected and recorded. Then, the drill rod is rotated so that the drill rod 2 surface is closely attached to the first baffle A surface of disk area No. 1, and the output vector data of the second group of horizontal triaxial acceleration sensors and triaxial magnetic sensors are collected. Similarly, the output vector collection of the triaxial acceleration sensors and triaxial magnetic sensors of the six surfaces of the drill rod in disk area No. 1 is completed. After completion, the drill rod is moved to the first baffle position of disk area No. 2, and is closely attached to the baffle A surface of the first baffle to complete the calibration coefficient collection of the six surfaces of the drill rod in disk area No. 2. Similarly, the output vector collection of the triaxial acceleration sensors and triaxial magnetic sensors in the six areas of the disk is completed.

[0097] Vertical state calibration coefficient collection, such as Figure 10-11 As shown, the front end of the drill rod is inserted into the hexagonal through-hole slot, and the limit baffle with a wire-passing function is installed. The drill rod surface 1 is placed in correspondence with the hexagonal through-hole surface 1. The output vector data of the first set of vertical triaxial acceleration sensors and triaxial magnetic sensors is collected and recorded. After completion, the drill rod is rotated so that the drill rod surface 2 is placed in correspondence with the hexagonal through-hole surface 1. The output vector data of the second set of vertical triaxial acceleration sensors and triaxial magnetic sensors is collected and recorded. This is repeated to complete the data collection and recording of the six drill rod surfaces. After the front end data collection is completed, the rear end of the drill rod is inserted into the hexagonal through-hole, and the limit baffle with a wire-passing function is installed. The steps are the same as for the front end to complete the output vector data collection and recording of the six triaxial acceleration sensors and triaxial magnetic sensors of the drill rod.

[0098] During horizontal state calibration, the output vectors of the triaxial acceleration sensor and triaxial magnetic sensor at the i-th position point among the six surfaces of the drill pipe can be expressed as:

[0099] Three-axis accelerometer:

[0100]

[0101]

[0102]

[0103] Where, is the output vector of the three-axis acceleration sensor, is the position standard of the three-axis acceleration sensor, C* is the zero offset error coefficient of the three-axis acceleration sensor, Ka*1 and Ka*2 are the installation error coefficients of the three-axis acceleration sensor, Ka*3 and Ka*4 are the linearity error coefficients of the three-axis acceleration sensor, and Sa* is the sensitivity error coefficient of the three-axis acceleration sensor. is the random error of the triaxial acceleration sensor, * = x, y, z, corresponding to the three axes of the triaxial accelerometer, where n = 6, m = 6, i = 1, 2...6, q = 1, 2...6.

[0104] Three-axis magnetic sensor:

[0105]

[0106]

[0107]

[0108] Where, is the sensor output vector of the three-axis magnetic sensor, is the standard value of the three-axis magnetic sensor position, D* is the zero offset error coefficient of the three-axis magnetic sensor, Kg*2 and Kg*3 are the installation error coefficients of the three-axis magnetic sensor, Sg* is the sensitivity error coefficient of the three-axis magnetic sensor, is the random error of the three-axis magnetic sensor, * = x, y, z, corresponding to the three axes of the three-axis magnetic sensor, where n = 6, m = 6, i = 1, 2...6, q = 1, 2...6.

[0109] There are 2n positions at both ends of the drill pipe on the multi-faceted through hole. The output vectors of the triaxial acceleration sensor and triaxial magnetic sensor at the jth hole surface position can be expressed as:

[0110] Three-axis accelerometer:

[0111]

[0112]

[0113]

[0114] Where, is the output vector of the three-axis accelerometer sensor, is the position standard of the three-axis acceleration sensor, C * K is the zero offset error coefficient of the three-axis acceleration sensor, a*1 , K a*2 K is the installation error coefficient of the triaxial acceleration sensor. a*3 , K a*4 is the linearity error coefficient of the three-axis acceleration sensor, Sa* is the sensitivity error coefficient of the three-axis acceleration sensor, is the random error of the triaxial accelerometer, * = x, y, z, corresponding to the three axes of the triaxial accelerometer, where n = 6, j = 1, 2...12.

[0115] Three-axis magnetic sensor:

[0116]

[0117]

[0118]

[0119] Where, is the sensor output vector of the three-axis magnetic sensor, is the standard value of the three-axis magnetic sensor position, D * is the zero offset error coefficient of the three-axis magnetic sensor, K g*2 , K g*3 is the installation error coefficient of the three-axis magnetic sensor, S g* is the sensitivity error coefficient of the three-axis magnetic sensor, is the random error of the three-axis magnetic sensor, * = x, y, z, corresponding to the three axes of the three-axis magnetic sensor, where n = 6, j = 1, 2...12.

[0120] Combining the corresponding expressions of the above acquisition position points and the output vector of the three-axis acceleration sensor, the coefficient matrix of the acceleration sensor X axis at all calibration position points can be obtained, as shown in the following formula:

[0121] The formula can be written as:

[0122] Where, is the acceleration sensor output vector matrix, is the standard quantity matrix of the three-axis acceleration sensor, is the random error matrix of the three-axis acceleration sensor; is the optimal correction coefficient matrix of the three-axis acceleration sensor.

[0123] In this embodiment The random error matrix of the triaxial acceleration sensor can be ignored.

[0124] According to the least squares theory, The optimal correction coefficient matrix of the triaxial acceleration sensor is:

[0125]

[0126] The collected three-axis acceleration sensor output vector matrix Substituting into (1), we can get Specific expression of the optimal correction coefficient matrix of the triaxial acceleration sensor;

[0127] The specific expression of the optimal correction coefficient matrix of the triaxial acceleration sensor is transferred to the drill rod. The triaxial acceleration sensor output vector matrix collected during the drill rod operation is Substituting the specific expression of the optimal correction coefficient matrix of the three-axis acceleration sensor into the matrix, the high-precision attitude information of the drill rod can be calculated.

[0128] The accelerometer coefficients of the Y-axis and Z-axis can also be obtained using the above method.

[0129] Combining the corresponding expressions of the above-mentioned acquisition position points and the sensor output vector of the three-axis magnetic sensor, the coefficient matrix of the X-axis of the three-axis magnetic sensor in all calibration position points can be obtained, as shown in the following formula:

[0130]

[0131] Denoted as:

[0132] Where, is the three-axis magnetic sensor output vector matrix, is the three-axis magnetic sensor position standard quantity matrix, is the random error matrix of the three-axis magnetic sensor; is the optimal correction coefficient matrix of the three-axis magnetic sensor.

[0133] According to the least squares theory, Optimal correction coefficient matrix for three-axis magnetic sensor:

[0134]

[0135] The collected three-axis magnetic sensor output vector matrix Substituting into (2), we can get Specific expression of the optimal correction coefficient matrix of the three-axis magnetic sensor;

[0136] The specific expression of the optimal correction coefficient matrix of the three-axis magnetic sensor is transferred to the drill rod. The three-axis magnetic sensor output vector matrix collected during the drill rod operation is obtained. Substitute the specific expression of the optimal correction coefficient matrix of the three-axis magnetic sensor into the solution to calculate the high-precision posture information of the drill rod.

[0137] The high-precision posture information of the three-axis magnetic sensor on the Y-axis and Z-axis can also be obtained using the above method.

[0138] In this embodiment, the calibration coefficient is the output vector matrix of the three-axis acceleration sensor and the three-axis magnetic sensor output vector matrix

[0139] The rapid calibration method of this embodiment does not require manual operation of the turntable, and only requires one person to adjust the position of the drill rod on the disc. It can avoid calibration equipment, environmental factors, and reduce calibration errors and mistakes caused by human operation. It can efficiently, conveniently and accurately realize the position change of multiple points of the drill rod in a uniformly distributed space, thereby realizing the selection and switching of calibration position points to achieve the purpose of calibration correction. Secondly, it eliminates the time of manual adjustment of the turntable during the calibration process, greatly shortens the interval time between two calibration points, and can save a lot of time when producing batch equipment. In addition, the measurement process does not require dedicated and expensive calibration equipment, which greatly saves the cost of drill rod calibration.

Claims

1. A rapid calibration device based on a multi-edged drill rod, comprising: A drill rod and a computer, wherein the drill rod has an embedded data acquisition circuit and is electrically connected to the computer, the data acquisition circuit is used to collect the calibration coefficient of the calibration position and upload it to the computer, and the computer is used to perform data processing on the calibration coefficient to obtain a correction coefficient. The invention is characterized in that the drill rod is multi-faceted, and the number of edges of the drill rod is n. The rapid calibration device further includes: A disc (3), wherein a plurality of first baffles (4) are provided on the disc (3) along its circumference, each of the first baffles (4) is arranged along the radial direction of the disc (3), and the length of each first baffle (4) is less than the radius of the disc (3), and each of the first baffles (4) divides the disc (3) into n equal parts, and the disc (3) is further provided with a multi-faceted through hole (5), the central axis of the multi-faceted through hole (5) is collinear with the central axis of the disc (3), the number of edges of the multi-faceted through hole (5) is n, and the multi-faceted through hole (5) matches the drill rod, and the disc is provided with a true north guide line along its radial direction, wherein n≥3; The rapid calibration device further comprises: a base (6), a level adjuster (7) and a level display (8), wherein the level adjuster (7) is arranged on the base (6), and the level display (8) is arranged on one side of the disk (3) where the first baffle (4) is provided. The rapid calibration device further comprises: two support frames (9), the two support frames (9) being symmetrically arranged on the drill rod along the center of the drill rod, and the distance between the two support frames (9) matching the diameter of the disc (3); The limiting baffle (10) is arranged on a side of the multi-faceted through hole (5) away from the first baffle (4), and a through hole is provided on the limiting baffle (10).

2. A rapid calibration method based on a multi-faceted drill rod, characterized in that: The method adopts the calibration device according to claim 1, and the specific steps of the method include: Step 1: Mark the multiple faces of the drill pipe in order, and mark each face of the drill pipe as: n1, n2, n3...n n , mark the n equal parts of the disk (3) in sequence, and record the equal parts of the disk (3) as m1, m2, m3...m n , initializing the calibration device; Step 2: Power on the calibration device to enable the data acquisition circuit to process the continuous working state; Step 3: Acquisition of horizontal state calibration coefficients; Starting from the limit baffle of area m1, after the n1 surface of the drill pipe is attached to the A surface of the first baffle in area m1, the first set of horizontal state calibration coefficients are collected and uploaded to the computer for recording through the embedded data acquisition circuit. After completion, the drill pipe is rotated so that the n2 surface is closely attached to the A surface of the limit baffle in area m1 to complete the second set of coefficient collection and recording. Similarly, the calibration coefficient collection of the n surfaces of the drill pipe in area m1 is completed. After completion, the drill pipe is moved to the first baffle position in area m2 and closely attached to the A surface of the first baffle to complete the calibration coefficient collection of the n surfaces of the drill pipe in area m2. Similarly, the calibration coefficient collection of the m areas is completed. Step 4: vertical state calibration coefficient collection; Insert one end of the drill rod into the multi-faceted through hole (5), install the limit baffle (10), place the drill rod n1 surface corresponding to one side of the multi-faceted through hole (5), collect the first set of vertical state calibration coefficients, and upload the records to the computer through the embedded data acquisition circuit. After completion, rotate the drill rod so that the drill rod n2 surface is placed corresponding to one side of the multi-faceted through hole (5), collect the second set of vertical state calibration coefficients, and so on to complete the collection of calibration coefficients of n surfaces of the drill rod and record them; then insert the other end of the drill rod into the multi-faceted through hole (5), install the limit baffle (10), and follow the same steps as the above collection to complete the collection of calibration coefficients of the other end of the n surfaces of the drill rod and record them; Step 5: The computer calculates the calibration coefficients to obtain the optimal correction coefficient matrix of the three-axis acceleration sensor: （1） in, is the optimal correction coefficient matrix of the three-axis acceleration sensor, is the output vector matrix of the three-axis acceleration sensor, is the standard quantity matrix of the three-axis acceleration sensor position; The computer calculates the calibration coefficients to obtain the optimal correction coefficient matrix of the three-axis magnetic sensor: （2） in, is the optimal correction coefficient matrix of the three-axis magnetic sensor, is the three-axis magnetic sensor output vector matrix, is the three-axis magnetic sensor position standard quantity matrix, for The transformation matrix of All three-axis acceleration sensor output vector matrices in step 3 and step 4 Substituting into (1), we can get Specific expression of the optimal correction coefficient matrix of the triaxial acceleration sensor; All three-axis magnetic sensor output vector matrices in step 3 and step 4 are combined Substituting into (2), we can get Specific expression of the optimal correction coefficient matrix of the three-axis magnetic sensor; Step 6: The specific expression of the optimal correction coefficient matrix of the three-axis acceleration sensor and the specific expression of the optimal correction coefficient matrix of the three-axis magnetic sensor obtained in step 5 are transmitted to the drill rod, and the output vector matrix of the three-axis acceleration sensor collected during the drill rod operation is converted to Three-axis magnetic sensor output vector matrix By substituting the specific expressions of the optimal correction coefficient matrix of the three-axis acceleration sensor and the optimal correction coefficient matrix of the three-axis magnetic sensor into the specific expressions, high-precision posture information of the drill rod can be calculated.

3. The rapid calibration method according to claim 2, wherein: In the step 3, when collecting the horizontal state calibration coefficient, as the disk (3) surface and the drill rod n surfaces are switched, The output vectors of the acceleration sensor and magnetic sensor at the qth area among the m areas on the disk (3) and the i-th surface position point among the n surfaces of the drill pipe are expressed as: Three-axis accelerometer: Where, is the output vector of the three-axis acceleration sensor, is the position standard of the three-axis acceleration sensor, C * K is the zero offset error coefficient of the three-axis acceleration sensor, a*1 , K a*2 K is the installation error coefficient of the triaxial acceleration sensor. a*3 , K a*4 is the linearity error coefficient of the three-axis acceleration sensor, S a* is the sensitivity error coefficient of the three-axis acceleration sensor, is the random error of the three-axis accelerometer, *=x, y, z, corresponding to the three axes of the three-axis accelerometer; Three-axis magnetic sensor: Where, is the magnetic sensor output vector, is the standard value of magnetic sensor position, D * is the zero offset error coefficient of the magnetic sensor, K g*2 , K g*3 is the magnetic sensor installation error coefficient, S g* is the sensitivity error coefficient of the magnetic sensor, is the random error of the magnetic sensor, *=x, y, z, corresponding to the three axes of the three-axis magnetic sensor; In step 4, when performing vertical state calibration, there are 2n position points at both ends of the drill rod on the multi-faceted through hole. The output vector of the three-axis acceleration sensor and the three-axis magnetic sensor at the j-th hole surface position point is expressed as: Three-axis accelerometer: Where, is the output vector of the three-axis acceleration sensor, is the position standard of the three-axis acceleration sensor, C * K is the zero offset error coefficient of the three-axis acceleration sensor, a*1 , K a*2 K is the installation error coefficient of the triaxial acceleration sensor. a*3 , K a*4 is the linearity error coefficient of the three-axis acceleration sensor, S a* is the sensitivity error coefficient of the three-axis acceleration sensor, is the random error of the three-axis accelerometer, *=x, y, z, corresponding to the three axes of the three-axis accelerometer; Three-axis magnetic sensor: Where, is the output vector of the three-axis magnetic sensor, is the standard value of the three-axis magnetic sensor position, D * is the zero offset error coefficient of the three-axis magnetic sensor, K g*2 , K g*3 is the installation error coefficient of the three-axis magnetic sensor, S g* is the sensitivity error coefficient of the three-axis magnetic sensor, is the random error of the three-axis magnetic sensor, *=x, y, z, corresponding to the three axes of the three-axis magnetic sensor.

4. The rapid calibration method according to claim 3, wherein: According to the output vector of the three-axis acceleration sensor at the acquisition position point, the X-axis of the three-axis acceleration sensor is obtained. The coefficient matrix of the calibration position points is shown as follows: The formula is recorded as: Where, is the output vector matrix of the three-axis acceleration sensor, is the standard quantity matrix of the three-axis acceleration sensor position, is the random error matrix of the three-axis acceleration sensor; is the optimal correction coefficient matrix of the three-axis acceleration sensor; According to the least squares theory, we can get The optimal correction coefficient matrix of the triaxial acceleration sensor is: （1） Where, is the optimal correction coefficient matrix of the three-axis acceleration sensor, is the output vector matrix of the three-axis acceleration sensor, is the standard quantity matrix of the three-axis acceleration sensor position; The optimal correction coefficient matrix of the three-axis acceleration sensor of the Y axis and the Z axis is also obtained using the above method.

5. The rapid calibration method according to claim 4, characterized in that: According to the output vector of the three-axis magnetic sensor at the acquisition position, the X-axis of the three-axis magnetic sensor is obtained. The coefficient matrix of the calibration position points is shown as follows: Denoted as: Where, is the three-axis magnetic sensor output vector matrix, is the three-axis magnetic sensor position standard quantity matrix, is the random error matrix of the three-axis magnetic sensor; is the optimal correction coefficient matrix of the three-axis magnetic sensor; According to the least squares theory, Optimal correction coefficient matrix for three-axis magnetic sensor: （2） Where, is the correction coefficient matrix of the three-axis magnetic sensor, is the three-axis magnetic sensor output vector matrix, is the three-axis magnetic sensor position standard quantity matrix, for The transformation matrix of The optimal correction coefficient matrix of the three-axis magnetic sensor of the Y axis and the Z axis is obtained similarly using the above method.

6. The rapid calibration method according to claim 2, characterized in that: In the horizontal state calibration coefficient collection in step 3 and the vertical state calibration coefficient collection in step 4, the calibration point number D is set; In the vertical state calibration coefficient collection of step 4, the calibration point number E is: .

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