Instrument deflection angle measurement method based on gyro inclinometer

Abstract

The present invention provides an instrument deflection measurement method based on a gyro inclinometer, comprising: real-time acquisition of output data of a gyroscope and an accelerometer in the gyro inclinometer; initial alignment of the gyro inclinometer, and acquisition of the pitch angle and roll angle in the initial alignment state according to the output of the current accelerometer; a transfer mechanism controls the gyroscope to rotate to 0°, 90°, 180° and 270° positions in sequence, and stays still for a certain period of time at each position to acquire the tool face angle in the initial alignment state; the gyro inclinometer performs attitude updates according to a preset cycle to acquire the real-time tool face angle; the X deflection angle and the Y deflection angle are acquired according to the tool face angle in the initial alignment state and the real-time tool face angle; the gyro inclinometer repeats attitude updates to acquire continuous real-time X deflection angle and Y deflection angle to complete the measurement of the instrument deflection angle. The technical solution of the present invention can solve the technical problems of large instrument deflection measurement errors and high measurement operation requirements in the prior art.

Description

Technical Field

[0001] The invention relates to the technical field of vertical hole measurement, and in particular to an instrument deflection angle measurement method based on a gyro inclinometer. Background Art

[0002] During the construction of mines and tunnels, there are many freezing holes, and most of them are vertical holes with high verticality requirements. In order to ensure that the verticality of the freezing hole meets the process requirements, in addition to selecting reasonable drilling parameters, it is also necessary to continuously monitor the verticality of the borehole (i.e., the deflection rate) to ensure that when the borehole deflects, it can be directional and corrected in a timely and effective manner. For vertical holes with high verticality requirements, it is necessary to measure the deflection rate every time a certain depth is drilled during the construction process to guide subsequent construction. The measurement of the deflection rate requires a gyro inclinometer, which measures the deflection angle of the instrument, and then calculates the information such as the offset and deflection rate. The accuracy of the gyro inclinometer and the measurement calculation method directly affect the accuracy of the deflection rate, which requires a high accuracy of the gyro inclinometer. During the construction process, the existing vertical hole gyro inclinometer needs to be aligned by visual inspection at the wellhead first, which has a large error, and this measurement method requires that the system cannot be powered off during the measurement process, otherwise it needs to be measured again from the wellhead, which seriously affects the construction progress. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0004] The invention provides an instrument deflection measurement method based on a gyro inclinometer. The instrument deflection measurement method based on the gyro inclinometer comprises: real-time acquisition of output data of a gyroscope and an accelerometer in the gyro inclinometer; initial alignment of the gyro inclinometer, and acquisition of a pitch angle and a roll angle in an initial alignment state according to an output of a current accelerometer; a transfer mechanism controls the gyro to rotate to positions of 0°, 90°, 180° and 270° in sequence, and stays still at each position for a certain period of time, and acquisition of a tool face angle in an initial alignment state according to the pitch angle and the roll angle in the initial alignment state and an output of a current gyroscope at each position; the gyro inclinometer performs attitude update according to a preset period, and acquires a real-time tool face angle according to the tool face angle in the initial alignment state and the outputs of the current gyroscope and the accelerometer; acquires an X deflection angle and a Y deflection angle according to the tool face angle in the initial alignment state and the real-time tool face angle; and the gyro inclinometer repeatedly performs attitude update to acquire continuous real-time X deflection angles and Y deflection angles to complete the measurement of the instrument deflection angle.

[0005] Furthermore, the gyro inclinometer includes a rotation mechanism, a gyroscope, an accelerometer, a navigation solution circuit and a protection assembly; the gyroscope and the accelerometer are fixedly connected, the navigation solution circuit is electrically connected to the gyroscope, the accelerometer and the rotation mechanism, the navigation solution circuit is used to collect data from the gyroscope and the accelerometer in real time and perform solution, the rotation mechanism is used to control the rotation of the gyroscope and the accelerometer according to the signal output by the navigation solution circuit, and the protection assembly is used to protect internal components.

[0006] Further, the instrument deflection measurement method based on the gyro inclinometer is based on Get the pitch angle and roll angle in the initial alignment state, where θ is the pitch angle in the initial alignment state, and γ is the roll angle in the initial alignment state. is the current X accelerometer output, is the current Y accelerometer output, is the current Z accelerometer output, and g is the acceleration due to gravity.

[0007] Further, the instrument deflection measurement method based on the gyro inclinometer is based on Get the tool face angle in the initial alignment state, where ψ0 is the tool face angle in the initial alignment state, and m = Aω U sinθ+ω U cosθsinγ,n=ω N cosγ,l=ω N sinθsinγ-Aω N cosθ, ω1, ω2, ω3, and ω4 are the outputs of the Y gyro at the positions of 0°, 90°, 180°, and 270°, respectively. N is the north component of the Earth's rotation angular velocity, ω U is the celestial component of the Earth's rotation angular velocity.

[0008] Further, the instrument deflection measurement method based on the gyro inclinometer is based on Get the real-time tool face angle, where ψ is the real-time tool face angle, t is the time, is the z gyro output value, ω ie is the rotation speed of the earth, and L is the local geographical latitude.

[0009] Further, the instrument deflection measurement method based on the gyro inclinometer is based on Get the X deflection angle and the Y deflection angle, where ΔX is the X deflection angle and ΔY is the Y deflection angle.

[0010] By applying the technical solution of the present invention, a method for measuring instrument deflection based on a gyro inclinometer is provided. The method for measuring instrument deflection based on a gyro inclinometer performs initial alignment on the gyro inclinometer, obtains the pitch angle, roll angle and tool face angle in the initial alignment state according to the output of the gyro and accelerometer collected in real time, continuously updates the attitude of the gyro inclinometer, and obtains continuous real-time X deflection and Y deflection according to the pitch angle, roll angle and tool face angle in the initial alignment state and the output of the gyro and accelerometer collected in real time. The method for measuring instrument deflection of the present invention can avoid the error caused by the drift of the gyroscope, improve the accuracy of deflection measurement, can adapt to power-off measurement, and can realize point measurement and continuous measurement at the same time. Compared with the prior art, the technical solution of the present invention can solve the technical problems of large instrument deflection measurement error and high measurement operation requirements in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The included drawings are used to provide a further understanding of the embodiments of the present invention, which constitute a part of the specification, are used to illustrate the embodiments of the present invention, and together with the text description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0012] Figure 1 A schematic flow chart of a method for measuring instrument deflection angle based on a gyro inclinometer according to a specific embodiment of the present invention is shown;

[0013] Figure 2 A schematic diagram of the structure of a gyro inclinometer provided according to a specific embodiment of the present invention is shown;

[0014] Figure 3 A schematic diagram of the configuration of an inertial measurement unit provided according to a specific embodiment of the present invention is shown.

[0015] The above drawings include the following reference numerals:

[0016] 10. indexing mechanism; 20. gyroscope; 30. accelerometer; 40. navigation solution circuit; 50. protection assembly. DETAILED DESCRIPTION

[0017] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0019] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0020] like Figure 1As shown, according to a specific embodiment of the present invention, a method for measuring instrument deflection based on a gyro inclinometer is provided, and the method for measuring instrument deflection based on a gyro inclinometer comprises: collecting output data of a gyroscope and an accelerometer in the gyro inclinometer in real time; performing initial alignment of the gyro inclinometer, and obtaining a pitch angle and a roll angle in an initial alignment state according to the output of a current accelerometer; a transfer mechanism controls the gyroscope to rotate to positions of 0°, 90°, 180° and 270° in sequence, and stays still at each position for a certain period of time, and obtaining a tool face angle in an initial alignment state according to the pitch angle and the roll angle in the initial alignment state and the output of the current gyroscope at each position; the gyro inclinometer performs attitude update according to a preset period, and obtains a real-time tool face angle according to the tool face angle in the initial alignment state and the output of the current gyroscope and accelerometer; obtains an X deflection angle and a Y deflection angle according to the tool face angle in the initial alignment state and the real-time tool face angle; and the gyro inclinometer repeatedly performs attitude update to obtain continuous real-time X deflection angle and Y deflection angle to complete the measurement of instrument deflection angle.

[0021] By applying this configuration, a method for measuring instrument deflection based on a gyro inclinometer is provided. The method for measuring instrument deflection based on a gyro inclinometer performs initial alignment on the gyro inclinometer, obtains the pitch angle, roll angle and tool face angle in the initial alignment state according to the output of the gyro and accelerometer collected in real time, continuously updates the attitude of the gyro inclinometer, and obtains continuous real-time X deflection and Y deflection according to the pitch angle, roll angle and tool face angle in the initial alignment state and the output of the gyro and accelerometer collected in real time. The instrument deflection measurement method of the present invention can avoid the error caused by the drift of the gyroscope, improve the deflection measurement accuracy, can adapt to power-off measurement, and can realize point measurement and continuous measurement at the same time. Compared with the prior art, the technical solution of the present invention can solve the technical problems of large instrument deflection measurement error and high measurement operation requirements in the prior art.

[0022] In the present invention, a geographic coordinate system (g system) is established: g x g y g z g Indicates that the origin o g is the starting point of the test on the earth surface, x g The axis points east, that is, E, y g The axis points to the north, that is, N, z g The axis points to the sky, that is, U; establish the instrument coordinate system (b system): use o b x b y b z b Indicates that the origin o b is the center of mass of the instrument, x b y b z b The axis is fixed to the instrument, where xb The y axis is along the horizontal axis of the instrument to the right. b Axis forward along the longitudinal axis of the instrument (y b Indicates the direction of the tool markings), z b The axis is upward along the vertical axis of the instrument; establish the navigation coordinate system (n system): the navigation coordinate system in this algorithm adopts the east, north, and sky (ENU) geographic coordinate system, with o n x n y n z n represents the origin o n is the wellhead to be measured on the ground, x n The axis points east, that is, E, y n The axis points to the north, that is, N, z n The axis points to the sky, that is, U.

[0023] Define ψ, θ, and γ as the tool face angle, pitch angle, and roll angle of the instrument, respectively, where the tool face angle ψ is the probe y b Axis in o n x n y n Horizontal projection and geographic north y n The angle between the axes is calculated clockwise from the geographic north direction, ranging from 0° to +360°; pitch angle θ: probe y b Axis in o n y n z n Plane projection and y n The angle between the axes is positive when the head is raised and negative when the head is lowered, ranging from -90° to +90°; Roll angle γ: probe tube x b Axis in o n x n z n Plane projection and x n The angle between the axes, right tilt is positive, left tilt is negative, range -180°~+180°. ΔX: X deflection, x b Axis relative to reference coordinate x n The degree of inclination of the axis, ΔY: Y deflection, y b Axis relative to reference coordinate y n The degree of inclination of the axis.

[0024] Furthermore, in the present invention, in order to realize the instrument deflection angle measurement based on the gyro inclinometer, the output data of the gyroscope and the accelerometer in the gyro inclinometer are firstly collected in real time.

[0025] As a specific embodiment of the present invention, Figure 2As shown, the gyro inclinometer includes a transfer mechanism 10, a gyroscope 20, an accelerometer 30, a navigation solution circuit 40 and a protection assembly 50. The gyroscope 20 and the accelerometer 30 are fixedly connected to form an inertial measurement unit. The navigation solution circuit 40 is electrically connected to the inertial measurement unit and the transfer mechanism 10. The navigation solution circuit 40 collects data of the inertial measurement unit in real time and performs solution. The transfer mechanism 10 can control the transfer of the inertial measurement unit according to the signal output by the navigation solution circuit 40. The protection assembly 50 is used to protect internal components. In this embodiment, the data of the inertial measurement unit can be collected by the controller in the navigation solution circuit 40. For example, the controller can adopt a C8051F120 single chip microcomputer. The navigation solution circuit 40 includes navigation solution software to realize the solution of the inertial measurement unit data. As shown in FIG. Figure 3 As shown, in this embodiment, the gyroscope 20 is a dual-axis fiber optic gyroscope, including a Y gyroscope and a Z gyroscope, and the accelerometer 30 is three high-precision quartz flexible accelerometers, including an X accelerometer, a Y accelerometer and a Z accelerometer. The three accelerometers are orthogonal to each other, and the Y gyroscope and the Y accelerometer are in the same direction.

[0026] Furthermore, in the present invention, after the output data of the gyroscope and the accelerometer are collected in real time, the gyro inclinometer is initially aligned, and the pitch angle and the roll angle in the initial alignment state are obtained according to the output of the current accelerometer.

[0027] In the present invention, in the initial alignment state, the instrument remains stationary and the output data of the accelerometer at this time is collected. According to Euler's theorem, the navigation coordinate system revolves around the negative z n The axis rotates by angle ψ, and then revolves around the current x n The axis rotates by angle θ, and then rotates around y b The axis rotates by angle γ to obtain the carrier coordinate system, and the conversion matrix between them is

[0028] The strapdown attitude conversion matrix from the carrier system to the navigation system is: According to the transformation matrix from the navigation coordinate system to the carrier coordinate system, we can obtain in, is the current accelerometer output, is the current X accelerometer output, is the current Y accelerometer output, is the current Z accelerometer output, and g is the acceleration due to gravity.

[0029] Thus, the pitch angle and roll angle in the initial alignment state can be obtained as follows: Among them, θ is the pitch angle in the initial alignment state, and γ is the roll angle in the initial alignment state.

[0030] Further, in the present invention, after obtaining the pitch angle and roll angle in the initial alignment state, the transfer mechanism controls the gyroscope to rotate to 0°, 90°, 180° and 270° positions in sequence, and stays still for a certain period of time at each position, and obtains the tool face angle in the initial alignment state according to the pitch angle and roll angle in the initial alignment state and the output of the current gyroscope at each position. In the present invention, the still time can be adjusted according to actual use needs. As a specific embodiment of the present invention, the transfer mechanism can control the gyroscope and accelerometer to stay still for 30 seconds at each position.

[0031] The outputs of the Y gyro (i.e., the north gyro) at the above four positions are Among them, ω1, ω2, ω3, and ω4 are the outputs of the Y gyro at the positions of 0°, 90°, 180°, and 270°, ω0 is the gyro zero bias, and ω N is the north component of the Earth's rotation angular velocity, ω U is the celestial component of the Earth's rotation angular velocity.

[0032] Subtract ω1 from ω3, and ω2 from ω4. Take the result as quotient and record it as A, then we have Let m = Aω U sinθ+ω U cosθsinγ,n=ω N cosγ,l=ω N sinθsinγ-Aω N cosθ, then m=nsinψ+lcosψ.

[0033] Using the universal calculation formula of trigonometric function, the tool face angle in the initial alignment state can be obtained as: Where ψ0 is the tool face angle in the initial alignment state.

[0034] In addition, in the present invention, after obtaining the tool face angle in the initial alignment state, the gyro inclinometer performs attitude update according to a preset period, and obtains the real-time tool face angle according to the tool face angle in the initial alignment state and the output of the current gyroscope and accelerometer. In the present invention, the preset period can be set according to actual drilling needs, for example, the preset period can be set to 200ms.

[0035] When measuring inclination through a vertical hole, the instrument inclination is small, so sinθ can be simplified to θ, sinγ can be simplified to γ, cosθ≈1, cosγ≈1, and further ignoring the product between small angles, the strapdown attitude conversion matrix from the carrier system to the navigation system can be simplified to Then the projection of the acceleration value measured by the load system on the navigation coordinate system is

[0036] Based on the tool face angle ψ0 in the initial alignment state, the real-time tool face angle can be obtained by continuously integrating the Z gyro (minus the earth's rotation speed component) Where ψ is the real-time tool face angle, t is the time, is the z gyro output value, ω ie is the earth's rotation speed, L is the local geographical latitude, is the current X accelerometer output, is the current Y accelerometer output, Current Z accelerometer output.

[0037] Further, in the present invention, after the real-time tool face angle is obtained, the X deflection angle and the Y deflection angle are obtained according to the tool face angle in the initial alignment state and the real-time tool face angle.

[0038] In the navigation coordinate system (i.e., n-system), the X deflection and Y deflection are respectively Among them, ΔX is the X deflection angle, and ΔY is the Y deflection angle.

[0039] In addition, in the present invention, after obtaining the real-time X deflection and Y deflection, the gyro inclinometer repeatedly updates the attitude to obtain continuous real-time X deflection and Y deflection to complete the measurement of the instrument deflection. In the present invention, the gyro inclinometer repeatedly updates the attitude as the drilling process progresses, and obtains continuous real-time X deflection and Y deflection, so as to facilitate the subsequent evaluation of the deflection of the instrument during the drilling process.

[0040] The instrument deflection measurement method based on the gyro inclinometer of the present invention obtains the real-time tool face angle according to the real-time output value of the accelerometer and the real-time output value of the Z gyroscope, and calculates the X deflection angle and the Y deflection angle through the coordinate conversion relationship in combination with the actual working conditions. This method can be used for the deflection measurement of vertical holes with an inclination of no more than 5°, and can avoid the error caused by the drift of the gyroscope. The deflection measurement accuracy can reach ±0.02°, and the calculation is simple and easy to program. The inertial measurement combination of the present invention has a self-seeking north function, which can seek north at any position, and even if the power is cut off during the operation of the gyro inclinometer, it will not affect the subsequent measurement. The deflection measurement method of the present invention can realize the functions of point measurement and continuous measurement at the same time, and can be selected according to actual working requirements.

[0041] In order to further understand the present invention, the following Figures 1 to 3 The instrument deflection angle measurement method based on the gyro inclinometer of the present invention is described in detail.

[0042] like Figures 1 to 3 As shown, according to a specific embodiment of the present invention, a method for measuring the instrument deflection angle based on a gyro inclinometer is provided. The method for measuring the instrument deflection angle based on a gyro inclinometer includes the following steps.

[0043] Step 1: collect the output data of the gyroscope and accelerometer in the gyro inclinometer in real time.

[0044] Step 2: Initially align the gyro inclinometer according to Get the pitch angle and roll angle in the initial alignment state.

[0045] Step 3: The indexing mechanism controls the gyroscope to rotate to 0°, 90°, 180° and 270° positions in sequence, and stays still for a certain period of time at each position. Get the tool face angle in the initial alignment state.

[0046] Step 4: The gyro inclinometer updates its attitude according to the preset period. Get the real-time tool face angle.

[0047] Step 5: According to Get real-time X and Y declination angles.

[0048] Step 6: The gyro inclinometer repeats steps 4 to 5 to perform attitude updates to obtain continuous real-time X and Y deflection angles to complete the measurement of the instrument deflection angle.

[0049] In summary, the present invention provides an instrument deflection measurement method based on a gyro inclinometer, which performs initial alignment on the gyro inclinometer, obtains the pitch angle, roll angle and tool face angle in the initial alignment state according to the output of the gyro and accelerometer collected in real time, continuously updates the attitude of the gyro inclinometer, and obtains continuous real-time X deflection and Y deflection according to the pitch angle, roll angle and tool face angle in the initial alignment state and the output of the gyro and accelerometer collected in real time. The instrument deflection measurement method of the present invention can avoid the error caused by the drift of the gyroscope, improve the deflection measurement accuracy, can adapt to power-off measurement, and can simultaneously realize point measurement and continuous measurement. Compared with the prior art, the technical solution of the present invention can solve the technical problems of large instrument deflection measurement errors and high measurement operation requirements in the prior art.

[0050] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0051] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0052] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for measuring instrument deflection angle based on a gyro inclinometer, characterized in that: The instrument deflection angle measurement method based on the gyro inclinometer comprises: Real-time acquisition of output data from the gyroscope and accelerometer in the gyro inclinometer; The gyro inclinometer performs initial alignment, and obtains the pitch angle and roll angle in the initial alignment state according to the output of the current accelerometer; The indexing mechanism controls the gyroscope to rotate to 0°, 90°, 180° and 270° positions in sequence, and stays still for a certain period of time at each position. The tool face angle in the initial alignment state is obtained according to the pitch angle and roll angle in the initial alignment state and the output of the current gyroscope at each position. Obtain the tool face angle in the initial alignment state, where ψ0 is the tool face angle in the initial alignment state, and m = Aω U sinθ+ω U cosθsinγ,n=ω N cosγ,l=ω N sinθsinγ-Aω N cosθ, ω1, ω2, ω3, and ω4 are the outputs of the Y gyro at the positions of 0°, 90°, 180°, and 270°, respectively. N is the north component of the Earth's rotation angular velocity, ω U is the celestial component of the Earth's rotation angular velocity, θ is the pitch angle in the initial alignment state, and γ is the roll angle in the initial alignment state; The gyro inclinometer updates its attitude according to a preset period, and obtains a real-time tool face angle according to the tool face angle in the initial alignment state and the output of the current gyro and accelerometer. Get the real-time tool face angle, where ψ is the real-time tool face angle, t is time, is the z gyro output value, ω ie is the earth's rotation speed, L is the local geographical latitude, is the current X accelerometer output, is the current Y accelerometer output, is the current Z accelerometer output; The X deflection angle and the Y deflection angle are obtained according to the tool face angle in the initial alignment state and the real-time tool face angle. Obtain the X deflection angle and the Y deflection angle, wherein ΔX is the X deflection angle and ΔY is the Y deflection angle, and are the acceleration values ​​measured by the load system in the navigation coordinate system x n Axis, y n Axis and z n Projection on axis; The gyro inclinometer repeatedly updates the attitude to obtain continuous real-time X deflection and Y deflection to complete the measurement of the instrument deflection.

2. The instrument deflection measurement method based on a gyro inclinometer according to claim 1, characterized in that: The gyro inclinometer comprises a transposition mechanism, a gyroscope, an accelerometer, a navigation solution circuit and a protection assembly; the gyroscope and the accelerometer are fixedly connected, the navigation solution circuit is electrically connected to the gyroscope, the accelerometer and the transposition mechanism, the navigation solution circuit is used to collect data from the gyroscope and the accelerometer in real time and perform solution, the transposition mechanism is used to control the transposition of the gyroscope and the accelerometer according to the signal output by the navigation solution circuit, and the protection assembly is used to protect internal components.

3. The instrument deflection measurement method based on a gyro inclinometer according to claim 1 or 2, characterized in that: The instrument deflection angle measurement method based on the gyro inclinometer is based on The pitch angle and roll angle in the initial alignment state are obtained, wherein g is the gravitational acceleration.

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