A magnetic induction penetrating ground positioning method for an underground transmitting coil in an inclined state

Abstract

The present invention discloses a method for magnetic induction through-the-ground positioning of an underground transmitting coil in an inclined state, comprising the following steps: S1: establishing a geographic coordinate system O-XYZ with the center of a single-axis air coil as the origin; calculating and obtaining a first inclination angle and a second inclination angle of the single-axis air coil based on the magnetic induction intensity measured by three three-axis magnetic core coils in the OX direction, the OY direction and the OZ direction; S2: arbitrarily selecting a three-axis magnetic core coil from the three three-axis magnetic core coils, and calculating and obtaining the actual position of the single-axis air coil based on the magnetic induction intensity measured by the selected three-axis magnetic core coil in three directions, the first inclination angle, the second inclination angle and the distance from the selected three-axis magnetic core coil to its adjacent three-axis magnetic core coil; the three directions are the OX direction, the OY direction and the OZ direction. The present invention can realize accurate positioning of an underground transmitting coil in an inclined state, thereby ensuring the effective implementation of rescue work after a mine disaster occurs.

Description

Technical Field

[0001] The present invention relates to the field of through-the-earth positioning technology, and more particularly to a magnetic induction through-the-earth positioning method for an underground transmitting coil in an inclined state. Background Art

[0002] Through-the-ground positioning technology can effectively determine the location of workers in a mine, and it plays an important role in rescue work after a mine accident. Studies have shown that the use of electromagnetic waves for through-the-ground positioning has the disadvantages of severe path loss, obvious multipath effect, and excessive coil size. Through-the-ground positioning is achieved through quasi-static magnetic fields, and there will be no reflection or refraction between the air medium and the earth medium. The positioning result is less affected by changes in the earth medium, the coil size is small, and there is no multipath effect, which is more suitable for narrow environments such as mines.

[0003] The existing magnetic induction through-the-ground positioning technology requires that the underground transmitting coil (i.e., transmitter) be kept parallel to the ground. However, when the underground transmitting coil cannot be kept parallel to the ground due to the limitations of the environment or due to a disaster (i.e., the underground transmitting coil is in a tilted state), the corresponding relationship between the positioning signal strength at the receiver and the position of the transceiver will no longer exist, which will seriously affect the positioning accuracy of the system, thereby affecting the effective rescue work after a mining accident.

[0004] Therefore, when the underground transmitting coil is in a tilted state, how to accurately position the underground transmitting coil to ensure effective rescue work after a mine disaster occurs is an urgent problem that technicians in this field need to solve. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a magnetic induction through-the-ground positioning method for an underground transmitting coil in an inclined state, which can achieve precise positioning of the underground transmitting coil in an inclined state, thereby ensuring the effective implementation of rescue work after a mine disaster occurs.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A magnetic induction ground-penetrating positioning method for an underground transmitting coil in an inclined state comprises the following steps:

[0008] S1: Establish a geographic coordinate system O-XYZ with the center of the single-axis air coil as the origin; calculate and obtain the first tilt angle and the second tilt angle of the single-axis air coil based on the magnetic induction intensity measured by the three three-axis magnetic core coils in the OX direction, the OY direction and the OZ direction; wherein the single-axis air coil is placed underground as a transmitting coil; and the three three-axis magnetic core coils are placed on the ground above the well as receiving coils;

[0009] S2: randomly select one of the three three-axis magnetic core coils, and calculate the actual position of the single-axis air coil based on the magnetic induction intensity measured in three directions by the selected three-axis magnetic core coil, the first tilt angle, the second tilt angle, and the distance from the selected three-axis magnetic core coil to its adjacent three-axis magnetic core coil; the three directions are OX direction, OY direction and OZ direction.

[0010] Preferably, the calculation formulas for the first inclination angle θ5 and the second inclination angle θ6 in S1 include:

[0011]

[0012] Among them, θ5 represents the rotation angle of the coordinate system O-XYZ with OY as the axis to the coordinate system O-X'Y'Z'; θ6 represents the rotation angle of the coordinate system O-X'Y'Z' with OX' as the axis to the coordinate system OX"Y"Z";

[0013] The three three-axis magnetic core coils include a three-axis magnetic core coil Q1, a three-axis magnetic core coil Q2 and a three-axis magnetic core coil Q3, which are arranged in a straight line along the Y-axis direction;

[0014] BH"1 is the resultant vector of BX"1 and BY"1; BX"1, BY"1 and BZ"1 represent the magnetic induction intensity of the three-axis magnetic core coil Q1 along the OX" direction, OY" direction and OZ" direction respectively; BH"2 is the resultant vector of BX"2 and BY"2; BX"2, BY"2 and BZ"2 represent the magnetic induction intensity of the three-axis magnetic core coil Q2 along the OX" direction, OY" direction and OZ" direction respectively; BH"3 is the resultant vector of BX"3 and BY"3; BX"3, BY"3 and BZ"3 represent the magnetic induction intensity of the three-axis magnetic core coil Q3 along the OX" direction, OY" direction and OZ" direction respectively;

[0015] b"1 represents the angle between BH"1 and BY"1; b"2 represents the angle between BH"2 and BY"2; b"3 represents the angle between BH"3 and BY"3;

[0016] When the three-axis magnetic core coil Q1 is located on the upper side of the single-axis air coil slope, A1 takes -1, and when it is on the lower side, A1 takes 1; when the three-axis magnetic core coil Q2 is located on the upper side of the single-axis air coil slope, A2 takes -1, and when it is on the lower side, A2 takes 1; when the three-axis magnetic core coil Q3 is located on the upper side of the single-axis air coil slope, A3 takes -1, and when it is on the lower side, A3 takes 1;

[0017] When the three-axis magnetic core coil Q1 and the three-axis magnetic core coil Q2 are located on different sides of the single-axis air coil slope, β" 21 =b"1+b"2, on the same side, β" 21 = b"1-b"2;

[0018] When the three-axis magnetic core coil Q2 and the three-axis magnetic core coil Q3 are located on different sides of the single-axis air coil slope, β" 32 =b"2+b"3, on the same side, β" 32 =b"2-b"3.

[0019] Preferably, the calculation formulas of BX"1, BY"1 and BZ"1 are:

[0020]

[0021] Among them, BX1, BY1 and BZ1 represent the magnetic induction intensity of the triaxial core coil Q1 along the OX direction, OY direction and OZ direction respectively;

[0022] The calculation formulas of BX"2, BY"2 and BZ"2 are:

[0023]

[0024] Among them, BX2, BY2 and BZ2 represent the magnetic induction intensity of the triaxial magnetic core coil Q2 along the OX direction, OY direction and OZ direction respectively;

[0025] The calculation formulas of BX"3, BY"3 and BZ"3 are:

[0026]

[0027] Among them, BX3, BY3 and BZ3 represent the magnetic induction intensity of the three-axis magnetic core coil Q3 along the OX direction, OY direction and OZ direction respectively.

[0028] Preferably, the calculation formulas of b"1, b"2 and b"3 are:

[0029]

[0030]

[0031]

[0032] Preferably, the calculation formula for the first inclination angle θ5 and the second inclination angle θ6 in S1 specifically includes: combining formula (1-1), formula (1-2), formula (1-3), formula (3-1), formula (3-2), formula (3-3) and formula (8) to obtain an equation containing only the first inclination angle θ5 and the second inclination angle θ6, and obtaining the first inclination angle θ5 and the second inclination angle θ6 by an iterative calculation method.

[0033] Preferably, the formula for calculating the position of the single-axis air coil in S2 includes:

[0034]

[0035] Among them, d X d Y and d Z represents the distance between the single-axis air coil and the selected three-axis magnetic core coil in the X-axis, Y-axis and Z-axis directions respectively; s" represents the horizontal distance from the selected three-axis magnetic core coil to the Z" axis.

[0036] Preferably, if the three-axis magnetic core coil is selected as the three-axis magnetic core coil Q1, then s" in formula (12) is s"1, and BX", BY", and BZ" are BX"1, BY"1, and BZ"1 respectively:

[0037]

[0038] Among them, d 21 Indicates the distance from the three-axis magnetic core coil Q1 to the three-axis magnetic core coil Q2;

[0039] Combining formula (12), formula (4-1), formula (1-1), formula (3-1), and formula (3-2) to obtain d X d Y and d Z ;

[0040] If the three-axis magnetic core coil is selected as the three-axis magnetic core coil Q2, then s" in formula (12) is s"2, and BX", BY", and BZ" are BX"2, BY"2, and BZ"2 respectively:

[0041]

[0042] Among them, d 21 Indicates the distance from the three-axis magnetic core coil Q1 to the three-axis magnetic core coil Q2;

[0043] Combining formula (12), formula (4-2), formula (1-2), formula (3-1), and formula (3-2) to obtain d X d Y and d Z ;

[0044] If the three-axis magnetic core coil is selected as the three-axis magnetic core coil Q3, then s" in formula (12) is s"3, and BX", BY", and BZ" are BX"3, BY"3, and BZ"3 respectively:

[0045]

[0046] Among them, d 32 Indicates the distance from the three-axis magnetic core coil Q3 to the three-axis magnetic core coil Q2;

[0047] Combining formula (12), formula (4-3), formula (1-3), formula (3-2), and formula (3-3) to obtain d X d Y and d Z .

[0048] Preferably, the three-axis magnetic core coil Q1, the three-axis magnetic core coil Q2 and the three-axis magnetic core coil Q3 are arranged in sequence along the negative direction of OY.

[0049] Preferably, the magnetic cores of the three tri-axial magnetic core coils are Permalloy or amorphous alloy.

[0050] Preferably, each of the three triaxial magnetic core coils has one axis perpendicular to the ground, and the remaining two axes are parallel to the ground.

[0051] It can be seen from the above technical solution that, compared with the prior art, the present invention discloses a magnetic induction through-the-ground positioning method for an underground transmitting coil in an inclined state, which can achieve precise positioning of the underground transmitting coil in an inclined state, thereby ensuring the effective implementation of rescue work after a mine disaster occurs. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0053] Figure 1 A schematic diagram of a magnetic induction through-the-ground positioning system provided by the present invention;

[0054] Figure 2 Schematic diagram of three receivers provided by the present invention placed on the ground in three ways;

[0055] Figure 3 (a) Schematic diagram showing the transformation from coordinate system O-XYZ to coordinate system O-X'Y'Z';

[0056] Figure 3 (b) A schematic diagram showing the transformation of the coordinate system O-X'Y'Z' to the coordinate system OX"Y"Z";

[0057] Figure 4 A spatial schematic diagram showing three receivers in three coordinate systems;

[0058] Figure 5 (a) is a schematic diagram of solving the horizontal distance between transceivers in the coordinate system OX”Y”Z” when the receivers Q1, Q2 and Q3 are located on the same side of the inclined plane where the downhole transmitting coil is located;

[0059] Figure 5 (b) is a schematic diagram of solving the horizontal distance between the transceivers in the coordinate system OX”Y”Z” when the receivers Q1 and Q2 are located on the same side of the inclined plane where the downhole transmitting coil is located and Q2 and Q3 are located on different sides of the inclined plane where the downhole transmitting coil is located;

[0060] Figure 6 (a) is a schematic diagram showing the corresponding relationship between the positioning signal (the magnetic induction intensity components of the receiver in the coordinate system OX”Y”Z”) and the position of the transceiver when the receiver Q is located on the same side of the inclined plane as the transmitting coil in the well;

[0061] Figure 6 (b) is a schematic diagram of the corresponding relationship between the positioning signal (the magnetic induction intensity components of the receiver in the coordinate system OX”Y”Z”) and the position of the transceiver when the receiver Q is located on the opposite side of the inclined plane where the transmitting coil is located in the downhole;

[0062] Figure 7 Schematic diagram of the corresponding relationship between the horizontal distance and the vertical distance between transceivers in the OX"Y"Z" coordinate system;

[0063] Figure 8 (a) and 8(b) are used to solve for the receiver Q d X d Y and d Z Schematic diagram of . DETAILED DESCRIPTION

[0064] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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. Based on the embodiments of 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.

[0065] The embodiment of the present invention discloses a magnetic induction through-the-ground positioning method for an underground transmitting coil in an inclined state:

[0066] like Figure 1 As shown, the present invention adopts one underground single-axis air coil (the single-axis air coil is used as a transmitting coil, also called a transmitter) and three above-ground three-axis magnetic core coils (the three-axis magnetic core coil is used as a receiving coil, also called a receiver) to form a magnetic induction through-the-ground positioning system, wherein the three-axis magnetic core coil is a three-axis orthogonal coil, wherein one axis is perpendicular to the ground and the other two axes are parallel to the ground, and the magnetic core of the three-axis magnetic core coil is Permalloy or amorphous alloy.

[0067] In order to better represent the tilt state of the downhole transmitting coil and realize its accurate positioning, the present invention uses the coordinate system rotation principle to represent the tilt state of the downhole transmitting coil:

[0068] The geographic coordinate system O-XYZ is established with the center of the underground transmitting coil as the origin (the X-axis points to the east, the Y-axis points to the north, and the three-axis magnetic core coil is parallel to the two axes of the ground: one is the Y-axis direction and the other is the X-axis direction). Figure 2 The figure shows three ways of placing three receivers on the ground. Point C is the intersection of the Z axis and the ground. If the receivers are randomly placed on the ground, Figure 2 (a) and 2(b), the receiver will be located in any quadrant of the coordinate system. When the number of receivers increases, β 21 and β 32 The solution method will be uncertain and the positioning process will become very complicated. In order to reduce the complexity of the solution process, the present invention sets the three receivers Q1, Q2 and Q3 to be arranged in a straight line along the negative direction of OY, such as Figure 2 (c).

[0069] The process of solving the inclination angle of the downhole transmitting coil is as follows:

[0070] like Figure 3 As shown in FIG. 1 , when the downhole transmitting coil is tilted, its tilt state can be regarded as first rotating θ5 (the first tilt angle) degrees with OY of the coordinate system O-XYZ as the axis, and establishing the corresponding coordinate system O-X'Y'Z', as shown in FIG. Figure 3 Then, the coordinate system O-X'Y'Z' is rotated by θ6 (the second tilt angle) with OX' as the axis to obtain the coordinate system OX"Y"Z" corresponding to the posture of the downhole transmitting coil (that is, the central axis of the downhole transmitting coil is the Z" axis), as shown in Figure 3 (b) as shown; Q 11 and Q 21 are the projections of Q1 and Q2 on the plane where Q3 is located in the coordinate system OX”Y”Z”; d 21 represents the distance from Q1 to Q2; d 32 Indicates the distance from Q2 to Q3; d" 21 and d" 32 They are d 21 and d 32 The projection on the plane where Q3 is located, that is, d" 21 is the horizontal distance between Q1 and Q2 in the coordinate system OX”Y”Z”, d" 32 is the horizontal distance between Q2 and Q3 in the coordinate system OX”Y”Z”; Figure 4 As shown: s"1, s"2, s"3 are the horizontal distances between Q1, Q2, Q3 and the central axis of the downhole transmitting coil after tilting (Z" axis), s" 11and s" 21 Q 11 and Q 21 The horizontal distance from the central axis of the downhole transmitting coil after tilting (Z" axis), and s" 11 =s"1;s" 21 =s"2;

[0071] According to the coordinate transformation principle, the calculation formulas of BX"1, BY"1 and BZ"1 of the receiver Q1 in the coordinate system OX"Y"Z" can be obtained from BX1, BY1, BZ1, θ5 and θ6 as follows:

[0072]

[0073] Among them, BX1, BY1 and BZ1 represent the magnetic induction intensity of the receiver Q1 along the OX direction, OY direction and OZ direction respectively; BX"1, BY"1 and BZ"1 represent the magnetic induction intensity of the receiver Q1 along the OX" direction, OY" direction and OZ" direction respectively; BX1, BY1 and BZ1 can be measured directly.

[0074] According to the coordinate transformation principle, the calculation formulas of BX"2, BY"2 and BZ"2 of the receiver Q2 in the coordinate system OX"Y"Z" can be obtained from BX2, BY2, BZ2, θ5 and θ6 as follows:

[0075]

[0076] Among them, BX2, BY2 and BZ2 represent the magnetic induction intensity of the receiver Q2 along the OX direction, OY direction and OZ direction respectively; BX"2, BY"2 and BZ"2 represent the magnetic induction intensity of the receiver Q2 along the OX" direction, OY" direction and OZ" direction respectively; BX2, BY2 and BZ2 can be measured directly.

[0077] According to the coordinate transformation principle, the calculation formulas of BX3, BY3, BZ3, θ5 and θ6 for receiver Q3 in the coordinate system OX”Y”Z” are as follows:

[0078]

[0079] Among them, BX3, BY3 and BZ3 represent the magnetic induction intensity of the receiver Q3 along the OX direction, OY direction and OZ direction respectively; BX"3, BY"3 and BZ"3 represent the magnetic induction intensity of the receiver Q3 along the OX" direction, OY" direction and OZ" direction respectively; BX3, BY3 and BZ3 can be measured directly.

[0080] According to the coordinate transformation principle, d 21 d 32, θ5 and θ6, and obtain the horizontal spacing (d" between the three receivers Q1, Q2 and Q3 in the coordinate system OX"Y"Z". 21 and d" 32 ) and vertical spacing (d D1D2 and d C"D2 ) are:

[0081]

[0082] Among them, d 21 represents the distance from Q1 to Q2; d 32 Indicates the distance from Q2 to Q3; d" 21 is the horizontal distance between Q1 and Q2 in the coordinate system OX”Y”Z”, d" 32 is the horizontal distance between Q2 and Q3 in the coordinate system OX”Y”Z”. D1D2 is the vertical distance between Q1 and Q2 in the coordinate system OX”Y”Z”, d C"D2 is the vertical distance between Q2 and Q3 in the coordinate system OX”Y”Z”.

[0083] like Figure 5 As shown: Construct triangle Q in the plane X”Y”C” where the receiver Q3 is located 11 Q 21 C” and Q3Q 21 C”. Figure 5 (a) is a schematic diagram of solving the horizontal distance between transceivers in the coordinate system OX”Y”Z” when receivers Q1, Q2 and Q3 are located on the same side of the inclined plane where the downhole transmitting coil is located. Figure 5 (b) is a schematic diagram for solving the horizontal distance between transceivers in the coordinate system OX”Y”Z” when receivers Q1 and Q2 are located on the same side of the inclined plane where the downhole transmitting coil is located and Q2 and Q3 are located on different sides of the inclined plane where the downhole transmitting coil is located; BH"1 is the resultant vector of BX"1 and BY"1; BH"2 is the resultant vector of BX"2 and BY"2; BH"3 is the resultant vector of BX"3 and BY"3.

[0084] b"1 represents the angle between BH"1 and BY"1; b"2 represents the angle between BH"2 and BY"2; b"3 represents the angle between BH"3 and BY"3.

[0085] β" 21 Indicates angle Q 11 C 21 ;β" 32 Indicates angle Q 21 C"Q3;

[0086] in:

[0087]

[0088]

[0089]

[0090] In triangle Q 11 Q 21 C” and Q3Q 21 C”, using the sine theorem, we can get:

[0091]

[0092]

[0093]

[0094] Among them, β" 21 = b"1+B1*b"2, when receivers Q1 and Q2 are located on the same side of the inclined plane where the downhole transmitting coil is located, B1 is -1, and when they are on different sides, B1 is 1; β" 32 = b"2+B2*b"3, when receivers Q3 and Q2 are located on the same side of the inclined plane where the downhole transmitting coil is located, B2 is -1, and when they are on different sides, B2 is 1; and s" 11 =s"1,s" 21 =s"2.

[0095] Figure 6 (a) and (b) are schematic diagrams of the corresponding relationship between the positioning signal (the magnetic induction intensity components of the receiver in the coordinate system OX"Y"Z") and the transceiver position in the coordinate system OX"Y"Z" when the receiver Q is located on the same side and the opposite side of the slope where the transmitting coil is located. Among them, BZ" and BH" are the magnetic induction intensities measured by the receiver Q along the OZ" direction and the OH" horizontal direction of the coordinate system OX"Y"Z", and OH" is the combined vector of OX" and OY"; Be r” and Be θ” They are respectively at the receiver Q, along the spherical coordinate system corresponding to the coordinate system OX”Y”Z e θ” Axis direction and e r” The magnetic induction intensity in the axial direction; and correspondingly γ1+γ2+γ3=π / 2; γ1-γ2+γ3=π / 2, so the relationship between the angle θ" and the magnetic induction intensity along the coordinate system OX"Y"Z" can be obtained as follows:

[0096]

[0097] Among them, when the receiver Q is located on the upper side of the slope where the downhole transmitting coil is located, A is -1, and when it is located on the lower side, A is 1.

[0098] Specifically corresponding to receivers Q1, Q2 and Q3, we can get:

[0099] When the receiver Q1 is located on the upper side of the slope where the transmitting coil is located, A1 is -1, and when it is located on the lower side, A1 is 1;

[0100] When the receiver Q2 is located on the upper side of the slope where the downhole transmitting coil is located, A2 is -1, and when it is located on the lower side, A2 is 1;

[0101] When the receiver Q3 is located on the upper side of the slope where the downhole transmitting coil is located, A3 is -1, and when it is located on the lower side, A3 is 1;

[0102] Figure 7 is the correspondence between the horizontal distance and vertical distance between the transceiver in the OX”Y”Z” coordinate system. Since the ratio of the horizontal distance from the receiver to the central axis of the transmitting coil to the vertical distance from the center of the transmitting coil is tanθ”, in the right triangle Q1OD1, Q2OD2, Q3OC”, we can get

[0103]

[0104] in, d OC″ They are respectively the vertical distances between Q1, Q2, Q3 and the center of the downhole transmitting coil in the OX”Y”Z” coordinate system.

[0105] Formula (6) combined with formula (2) yields:

[0106]

[0107] Formula (1-1), formula (1-2), formula (1-3), formula (2), formula (3-

[0108] 1), formula (3-2), formula (3-3), formula (4-1), formula (4-2), formula (4-3), formula (5-1), formula (5-2), formula (5-3) and formula (6) are substituted into formula (7) to obtain:

[0109]

[0110] In formula (8), b”1 is a function of BH”1 and BY”1, BH”1 is a function of BX”1 and BY”1, b”2 is a function of BH”2 and BY”2, BH”2 is a function of BX”2 and BY”2; b”3 is a function of BH”3 and BY”3, BH”3 is a function of BX”3 and BY”3; and BX”1, BY”1, BZ”1, BX”2, BY”2, BZ”2, BX”3, BY”3 and BZ”3 are all functions of θ5 and θ6, that is, there are only two variables θ5 and θ6 in the formula. Therefore, using the receiver in the geographic coordinate system The magnetic induction intensity components (BX1, BY1, BZ1, BX2, BY2, BZ2, BX3, BY3 and BZ3) measured in O-XYZ can be combined to obtain the values ​​of θ5 and θ6 by formula (8). However, the equations in formula (8) are transcendental equations and cannot be solved directly. Through the iterative calculation method, different angle values ​​can be gradually substituted into formula (8) from small to large in the range of (-90°, -90°) to (90°, 90°) for (θ5, θ6) to calculate. When the equation is established, the (θ5, θ6) of the downhole transmitting coil can be solved.

[0111] After obtaining the first tilt angle and the second tilt angle (θ5, θ6) of the downhole transmitting coil, in the coordinate system OX”Y”Z”, as Figure 8 As shown in (a), take any receiver Q (select any one among Q1, Q2, and Q3) as the positioning reference point, and assume that the distances between the center of the downhole transmitting coil and the ground receiver Q in the X”, Y”, and Z” directions are d X” d Y” d Z” Since the origin O of the coordinate system OX”Y”Z” is the center of the underground transmitting coil, we have:

[0112]

[0113] Assume that the distances between the downhole transmitter and the ground receiver Q in the X', Y', and Z' directions of the coordinate system O-X'Y'Z' are d X' d Y' d Z' ,like Figure 8 (b) shows that:

[0114]

[0115] In the coordinate system O-XYZ, the distances between the downhole transmitting coil and the ground receiver Q in the X, Y, and Z directions are d X d Y d Z , then:

[0116]

[0117] Substituting formula (9) and formula (10) into formula (11), we obtain:

[0118]

[0119] If Q is Q1, then s" in formula (12) is s"1, BX", BY", and BZ" are BX"1, BY"1, and BZ"1 respectively; since d 21 , BX1, BY1 and BZ1 can be measured directly, and d can be obtained by combining formula (12), formula (4-1), formula (1-1), formula (3-1) and formula (3-2) X d Y and d Z ;

[0120] If Q is Q2, then s" in formula (12) is s"2, BX", BY", and BZ" are BX"2, BY"2, and BZ"2 respectively; since d 21 , BX2, BY2 and BZ2 can be measured directly, and d can be obtained by combining formula (12), formula (4-2), formula (1-2), formula (3-1) and formula (3-2) X d Y and d Z ;

[0121] If Q is Q3, then s" in formula (12) is s"3, BX", BY", and BZ" are BX"3, BY"3, and BZ"3 respectively; since d 32 , BX3, BY3 and BZ3 can be measured directly, and d can be obtained by combining formula (12), formula (4-3), formula (1-3), formula (3-2) and formula (3-3) X d Y and d Z .

[0122] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0123] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A magnetic induction through-the-earth positioning method for an underground transmitting coil in an inclined state, characterized in that: The following steps are involved: S1: Establish a geographic coordinate system O-XYZ with the center of the single-axis air coil as the origin; calculate and obtain the first tilt angle and the second tilt angle of the single-axis air coil based on the magnetic induction intensity measured by the three three-axis magnetic core coils in the OX direction, the OY direction and the OZ direction; wherein the single-axis air coil is placed underground as a transmitting coil; and the three three-axis magnetic core coils are placed on the ground above the well as receiving coils; The calculation formulas for the first tilt angle θ5 and the second tilt angle θ6 in S1 include: Among them, θ5 represents the rotation angle of the coordinate system O-XYZ with OY as the axis to the coordinate system O-X'Y'Z'; θ6 represents the rotation angle of the coordinate system O-X'Y'Z' with OX' as the axis to the coordinate system OX”Y”Z”; The three three-axis magnetic core coils include a three-axis magnetic core coil Q1, a three-axis magnetic core coil Q2 and a three-axis magnetic core coil Q3, which are arranged in a straight line along the Y-axis direction; BH"1 is the resultant vector of BX"1 and BY"1; BX"1, BY"1 and BZ"1 represent the magnetic induction intensity of the three-axis magnetic core coil Q1 along the OX" direction, OY" direction and OZ" direction respectively; BH"2 is the resultant vector of BX"2 and BY"2; BX"2, BY"2 and BZ"2 represent the magnetic induction intensity of the three-axis magnetic core coil Q2 along the OX" direction, OY" direction and OZ" direction respectively; BH"3 is the resultant vector of BX"3 and BY"3; BX"3, BY"3 and BZ"3 represent the magnetic induction intensity of the three-axis magnetic core coil Q3 along the OX" direction, OY" direction and OZ" direction respectively; b"1 represents the angle between BH"1 and BY"1; b"2 represents the angle between BH"2 and BY"2; b"3 represents the angle between BH"3 and BY"3; When the three-axis magnetic core coil Q1 is located on the upper side of the single-axis air coil slope, A1 takes -1, and when it is on the lower side, A1 takes 1; when the three-axis magnetic core coil Q2 is located on the upper side of the single-axis air coil slope, A2 takes -1, and when it is on the lower side, A2 takes 1; when the three-axis magnetic core coil Q3 is located on the upper side of the single-axis air coil slope, A3 takes -1, and when it is on the lower side, A3 takes 1; When the three-axis magnetic core coil Q1 and the three-axis magnetic core coil Q2 are located on different sides of the single-axis air coil slope, β" 21 =b"1+b"2, on the same side, β" 21 = b"1-b"2; When the three-axis magnetic core coil Q2 and the three-axis magnetic core coil Q3 are located on different sides of the single-axis air coil slope, β" 32 =b"2+b"3, on the same side, β" 32 =b"2-b"3; S2: randomly select one of the three three-axis magnetic core coils, and calculate the actual position of the single-axis air coil based on the magnetic induction intensity measured in three directions by the selected three-axis magnetic core coil, the first tilt angle, the second tilt angle, and the distance from the selected three-axis magnetic core coil to its adjacent three-axis magnetic core coil; the three directions are OX direction, OY direction and OZ direction.

2. The magnetic induction through-the-ground positioning method for the tilted state of the underground transmitting coil according to claim 1 is characterized in that: The calculation formulas of BX"1, BY"1 and BZ"1 are: Among them, BX1, BY1 and BZ1 represent the magnetic induction intensity of the triaxial core coil Q1 along the OX direction, OY direction and OZ direction respectively; The calculation formulas of BX"2, BY"2 and BZ"2 are: Among them, BX2, BY2 and BZ2 represent the magnetic induction intensity of the triaxial magnetic core coil Q2 along the OX direction, OY direction and OZ direction respectively; The calculation formulas of BX"3, BY"3 and BZ"3 are: Among them, BX3, BY3 and BZ3 represent the magnetic induction intensity of the three-axis magnetic core coil Q3 along the OX direction, OY direction and OZ direction respectively.

3. The magnetic induction through-the-ground positioning method for the tilted state of the underground transmitting coil according to claim 1 is characterized in that: The calculation formulas of b"1, b"2 and b"3 are respectively:

4. The magnetic induction through-the-ground positioning method for the tilted state of the underground transmitting coil according to claim 3 is characterized in that: The calculation formula for the first inclination angle θ5 and the second inclination angle θ6 in S1 specifically includes: combining formula (1-1), formula (1-2), formula (1-3), formula (3-1), formula (3-2), formula (3-3) and formula (8) to obtain an equation containing only the first inclination angle θ5 and the second inclination angle θ6, and obtaining the first inclination angle θ5 and the second inclination angle θ6 by an iterative calculation method.

5. The magnetic induction through-the-ground positioning method for the tilted state of the underground transmitting coil according to claim 4 is characterized in that: The formula for calculating the position of the single-axis air coil in S2 includes: Among them, d X d Y and d Z represents the distance between the single-axis air coil and the selected three-axis magnetic core coil in the X-axis, Y-axis and Z-axis directions respectively; s" represents the horizontal distance from the selected three-axis magnetic core coil to the Z" axis.

6. The magnetic induction through-the-ground positioning method for the tilted state of the underground transmitting coil according to claim 5 is characterized in that: If the three-axis magnetic core coil is selected as the three-axis magnetic core coil Q1, then s" in formula (12) is s"1, and BX", BY", and BZ" are BX"1, BY"1, and BZ"1 respectively: Among them, d 21 Indicates the distance from the three-axis magnetic core coil Q1 to the three-axis magnetic core coil Q2; Combining formula (12), formula (4-1), formula (1-1), formula (3-1), and formula (3-2) to obtain d X d Y and d Z ; If the three-axis magnetic core coil is selected as the three-axis magnetic core coil Q2, then s" in formula (12) is s"2, and BX", BY", and BZ" are BX"2, BY"2, and BZ"2 respectively: Among them, d 21 Indicates the distance from the three-axis magnetic core coil Q1 to the three-axis magnetic core coil Q2; Combining formula (12), formula (4-2), formula (1-2), formula (3-1), and formula (3-2) to obtain d X d Y and d Z ; If the three-axis magnetic core coil is selected as the three-axis magnetic core coil Q3, then s" in formula (12) is s"3, and BX", BY", and BZ" are BX"3, BY"3, and BZ"3 respectively: Among them, d 32 Indicates the distance from the three-axis magnetic core coil Q3 to the three-axis magnetic core coil Q2; Combining formula (12), formula (4-3), formula (1-3), formula (3-2), and formula (3-3) to obtain d X d Y and d Z .

7. The magnetic induction through-the-earth positioning method for the tilted state of the underground transmitting coil according to claim 1, characterized in that: The three-axis magnetic core coil Q1 , the three-axis magnetic core coil Q2 and the three-axis magnetic core coil Q3 are arranged in sequence along the negative direction of OY.

8. The magnetic induction through-the-earth positioning method for the tilted state of the underground transmitting coil according to claim 1, characterized in that: The magnetic cores of the three triaxial magnetic core coils are Permalloy or amorphous alloy.

9. The magnetic induction through-the-ground positioning method for the tilted state of the underground transmitting coil according to claim 1, characterized in that: The three three-axis magnetic core coils each have one axis perpendicular to the ground, and the remaining two axes are parallel to the ground.

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