Drilling machine positioning method based on Beidou high precision

Abstract

A drilling machine positioning method based on Beidou high precision can be applied to the scene where a drilling machine needs to be used for drilling in the mine engineering blasting process, Beidou high-precision positioning and orientation equipment is introduced to assist in determining the drilling position in the drilling position determining process, and the method comprises the steps that a main antenna and an auxiliary antenna are installed on a drilling vehicle; and the drilling positioning main control software calculates the real-time position of the drill bit according to the position and the direction of the drilling vehicle and by combining the triangular relationship between the master antenna, the slave antenna and the position of the drill bit, so that the real-time position of the drill bit is compared with the position of a to-be-drilled position in real time, and the relative distance is calculated. And therefore, the drilling operation precision of the drilling vehicle equipment can be improved.

Description

Technical Field

[0001] The present invention belongs to the field of Beidou related technology, and in particular to a high-precision drilling rig positioning method based on Beidou, which can be applied to scenarios where a drilling rig is needed to drill holes during mining engineering blasting. In the process of determining the drilling position, Beidou high-precision positioning and orientation equipment is introduced to assist in determining the drilling position, which is beneficial to improving the drilling operation accuracy of the drilling vehicle equipment. Background Art

[0002] During the blasting process of mining engineering, a drilling rig is required for drilling. The hardware equipment for drilling operations includes a drilling vehicle with a drill bit installed on it. The drilling operation process is that the operator drives the drilling vehicle to the vicinity of the drilling position, and when the position of the moving drill bit approximately coincides with the calibrated position to be drilled, the drill bit is operated to perform the drilling operation; after the current drilling is completed, the drilling vehicle is driven to move to another drilling position for drilling operations, and so on. When the current drilling rig is performing drilling operations, it needs to be calibrated, and then the machine is manually operated to reach the hole position to be drilled. This manual operation of the machine is inaccurate in positioning. Whether the drill bit position coincides with the calibrated hole position is judged by human eyes, and the accuracy is poor. Summary of the invention

[0003] In view of the defects or shortcomings existing in the prior art, the present invention provides a high-precision drilling rig positioning method based on Beidou, which can be applied to scenarios where a drilling rig is required to drill holes during mining engineering blasting. In the process of determining the drilling position, Beidou high-precision positioning and orientation equipment is introduced to assist in determining the drilling position, which is beneficial to improving the drilling operation accuracy of the drilling vehicle equipment.

[0004] The technical solution of the present invention is as follows:

[0005] A high-precision drilling rig positioning method based on Beidou, characterized in that it includes the following steps:

[0006] Step 1, open the drilling rig positioning main control software, and connect the drilling rig positioning main control software to the position point database, and obtain the real-time coordinate position of the main antenna and the slave antenna in the Beidou high-precision positioning and orientation equipment from the position point database, and the main antenna and the slave antenna are installed on the drilling vehicle;

[0007] Step 2, loading a configuration file, wherein the configuration file stores the coordinate positions of the master antenna and the slave antenna, the distance between the master antenna and the drill bit, the distance between the slave antenna and the drill bit, and the distance between the master and slave antennas measured in a stationary state;

[0008] Step 3, according to the configuration file, respectively calculate the angle between the main antenna and the drill bit baseline and the true north, and calculate the angle between the slave antenna and the drill bit baseline and the true north;

[0009] Step 4, calculating the drill bit coordinates according to the real-time coordinates of the master and slave antennas;

[0010] Step 5, calculating the deviation between the drill bit and the hole to be drilled;

[0011] Step 6, initially configure the drilling point display and adjust the drill position;

[0012] Step 7, determine whether the deviation between the current drill position and the position to be drilled is less than a set threshold, if not, return to step 6, if yes, proceed to step 8;

[0013] Step 8, perform the drilling operation, after the current hole is completed, return to step 6 to enter the drilling process of the next hole, or end the drilling process.

[0014] Step 1 includes: the drilling positioning main control software is installed on the drilling vehicle main control machine, the main antenna is installed on the front of the drilling vehicle, the slave antenna is installed on the rear of the drilling vehicle, the Beidou reference station equipment is set up at the true value point position that has been calibrated through surveying and mapping, and the Beidou reference station equipment provides differential data for the Beidou high-precision positioning and orientation equipment. The Beidou high-precision positioning and orientation equipment uses the differential data and the observation value received by the main antenna to perform carrier phase differentiation to achieve centimeter-level positioning accuracy.

[0015] Step 1 includes adopting a mutual backup mode of the master and slave antenna positions, so that when the master antenna cannot enter the carrier phase differential, the slave antenna carrier phase differential positioning result can be used.

[0016] Step 2 includes:

[0017] cosB=(a 2 +c 2 -b 2 ) / 2*a*c;

[0018] cosC=(a 2 +b 2 -c 2 ) / 2*a*b;

[0019] Where B is the angle between the baseline of the main antenna and the drill bit and the baseline of the slave antenna and the drill bit, a is the distance between the main antenna and the drill bit, b is the distance between the main and slave antennas, c is the distance between the slave antenna and the drill bit, and C is the angle between the baseline of the main antenna and the slave antenna and the baseline of the slave antenna and the drill bit.

[0020] Step 3 includes:

[0021] E = len*sin(yaw);

[0022] N = len*cos(yaw);

[0023] U = 0;

[0024] Where E is the east axis or the east coordinate of the drill bit, N is the north axis or the north coordinate of the drill bit, U is the celestial axis or the celestial coordinate of the drill bit, len is the baseline length from the drill bit to the main antenna, and yaw is the angle between the baseline of the main and slave antennas and the true north.

[0025] Step 4 includes using the observation data of the master-slave antenna to realize real-time measurement of the angle of the drilling vehicle's travel direction, and sending the current drilling vehicle position and the drilling vehicle head orientation to the drilling positioning main control software through the 4G communication link. The drilling positioning main control software calculates the real-time position of the drill bit based on the position and orientation of the drilling vehicle, combined with the triangular relationship between the master-slave antenna and the drill bit position, so as to compare the real-time position of the drill bit with the position of the hole to be drilled in real time and calculate the relative distance.

[0026] Step 4 includes:

[0027]

[0028] Where x, y, z are the x-axis coordinates, y-axis coordinates, and z-axis coordinates of the drill head position in the XYZ coordinate system, e, n, u are the easting coordinates, northing coordinates, and celestial coordinates of the drill head position in the ENU coordinate system, λ is the longitude value of the main antenna positioning result, and φ is the latitude value of the main antenna positioning result.

[0029] The technical effects of the present invention are as follows: The present invention provides a drilling rig positioning method based on Beidou high-precision, which applies Beidou high-precision positioning and orientation technology to the determination of drilling hole positions of the drilling rig, effectively improving the accuracy of the drilling points, facilitating the drilling operation, and avoiding errors introduced by human alignment of the hole positions.

[0030] The present invention introduces a high-precision Beidou positioning antenna, uses trigonometric relationships and coordinate transformation to calculate the drill bit coordinates, and adds a method of backup of the positions of the master and slave antennas, which effectively ensures the position accuracy of the drill bit coordinates and effectively guides the drilling positioning operation.

[0031] The present invention utilizes high-precision differential technology, installs the vehicle-mounted terminal as a mobile station on the drilling rig by setting up a reference station, and uses two antennas to realize the directional function; the precise drilling position is obtained through the directional angle and the geometric relationship between the drilling rig and the two antennas.

[0032] The whole system of the present invention includes a positioning directional antenna and equipment, and drilling positioning software. The positioning directional antenna and equipment are installed on the drilling rig, and the drilling positioning software is installed on the computer in the drilling vehicle. The equipment reports the positioning and orientation results in real time through 4G, and the drilling rig software calculates the drilling position in real time according to the positioning and orientation results reported by the equipment and the geometric relationship between the antenna and the borehole, thereby realizing the accurate calculation of the drilling position; at the same time, the software can control whether the drilling position of the point to be drilled is accurate, and after judging that it meets the accuracy requirements, a prompt is given; and the current drilling point and the point to be drilled can be set. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a flow chart of implementing the Beidou-based high-precision drilling rig positioning method of the present invention. Figure 1 The method comprises the steps of: opening the drilling rig positioning main control software, connecting the drilling rig positioning main control software to the position point database, obtaining the real-time coordinate positions of the master antenna and the slave antenna in the Beidou high-precision positioning and orientation device from the position point database, wherein the master antenna and the slave antenna are installed on the drilling vehicle; step 2, loading a configuration file, wherein the configuration file stores the coordinate positions of the master antenna and the slave antenna measured in a stationary state, the distance between the master antenna and the drill bit, the distance between the slave antenna and the drill bit, and the distance between the master and the slave antenna; step 3, respectively, according to the configuration file, Calculate the angle between the main antenna and the drill bit baseline and the true north, and calculate the angle between the slave antenna and the drill bit baseline and the true north; step 4, calculate the drill bit coordinates according to the real-time coordinates of the master and slave antennas; step 5, calculate the deviation between the drill bit and the position to be drilled; step 6, initially configure the drilling point display, and adjust the drill bit position; step 7, determine whether the deviation value between the current drill bit position and the position to be drilled is less than the set threshold, if not, return to step 6, if yes, enter step 8; step 8, perform drilling operation, after the current hole is drilled, return to step 6 to enter the drilling process of the next hole, or end the drilling process. DETAILED DESCRIPTION

[0034] Below is the attached figure ( Figure 1 ) and Examples illustrate the present invention.

[0035] Figure 1 It is a flowchart of the method for implementing the high-precision drilling rig positioning method based on Beidou in the present invention. Figure 1As shown, a drilling rig positioning method based on Beidou high-precision includes the following steps: step 1, opening the drilling rig positioning main control software, and connecting the drilling rig positioning main control software to the position point database, and obtaining the real-time coordinate positions of the main antenna and the slave antenna in the Beidou high-precision positioning and orientation device from the position point database, wherein the main antenna and the slave antenna are installed on the drilling vehicle; step 2, loading a configuration file, wherein the configuration file stores the coordinate positions of the main antenna and the slave antenna measured in a static state, the distance between the main antenna and the drill bit, the distance between the slave antenna and the drill bit, and the distance between the master and slave antennas; Step 3, calculate the angle between the main antenna and the drill bit baseline and the true north according to the configuration file, and calculate the angle between the slave antenna and the drill bit baseline and the true north; Step 4, calculate the drill bit coordinates according to the real-time coordinates of the master and slave antennas; Step 5, calculate the deviation between the drill bit and the position to be drilled; Step 6, initially configure the drilling point display and adjust the drill bit position; Step 7, determine whether the deviation value between the current drill bit position and the position to be drilled is less than the set threshold, if not, return to step 6, if yes, enter step 8; Step 8, perform drilling operation, return to step 6 after the current hole is drilled to enter the drilling process of the next hole, or end the drilling process.

[0036] Step 1 includes: the drilling positioning main control software is installed on the main control machine of the drilling vehicle, the main antenna is installed on the front of the drilling vehicle, the slave antenna is installed on the rear of the drilling vehicle, the Beidou reference station equipment is set up at the true value point position after surveying and calibration, the Beidou reference station equipment provides differential data for the Beidou high-precision positioning and orientation equipment, and the Beidou high-precision positioning and orientation equipment uses the differential data and the observed value received by the main antenna to perform carrier phase differential to achieve centimeter-level positioning accuracy. Step 1 includes the use of the master and slave antenna positions as a backup mode for each other, so that when the main antenna cannot enter the carrier phase differential, the slave antenna carrier phase differential positioning result can be used.

[0037] Step 2 includes: cosB = (a 2 +c 2 -b 2 ) / 2*a*c; cosC=(a 2 +b 2 -c 2 ) / 2*a*b; where B is the angle between the baseline of the main antenna and the drill bit and the baseline of the slave antenna and the drill bit, a is the distance between the main antenna and the drill bit, b is the distance between the main and the slave antennas, c is the distance between the slave antenna and the drill bit, and C is the angle between the baseline of the main antenna and the slave antenna and the baseline of the slave antenna and the drill bit.

[0038] Step 3 includes: E=len*sin(yaw); N=len*cos(yaw); U=0; wherein E is the east axis or the east coordinate of the drill bit, N is the north axis or the north coordinate of the drill bit, U is the celestial axis or the celestial coordinate of the drill bit, len is the baseline length from the drill bit to the main antenna, and yaw is the angle between the main and slave antenna baselines and the true north.

[0039] Step 4 includes using the observation data of the master-slave antenna to realize real-time measurement of the angle of the drilling vehicle's travel direction, and sending the current drilling vehicle position and the drilling vehicle head orientation to the drilling positioning main control software through the 4G communication link. The drilling positioning main control software calculates the real-time position of the drill bit based on the position and orientation of the drilling vehicle, combined with the triangular relationship between the master-slave antenna and the drill bit position, so as to compare the real-time position of the drill bit with the position of the hole to be drilled in real time and calculate the relative distance.

[0040] Step 4 includes:

[0041]

[0042] Where x, y, z are the x-axis coordinates, y-axis coordinates, and z-axis coordinates of the drill head position in the XYZ coordinate system, e, n, u are the easting coordinates, northing coordinates, and celestial coordinates of the drill head position in the ENU coordinate system, λ is the longitude value of the main antenna positioning result, and φ is the latitude value of the main antenna positioning result.

[0043] Figure 1 The specific process of the drilling rig positioning main control software is as follows:

[0044] Step 1: After opening the software, first connect to the location database to obtain the real-time coordinates of the main antenna and the slave antenna. When the database connection is successful, proceed to step 2 to load the configuration file.

[0045] Step 2: Load the configuration file, which stores the coordinates of the master and slave antennas measured in a static state, as well as the distance between the master antenna and the drill bit, the distance between the slave antenna and the drill bit, and the distance between the master and slave antennas. 2 +c 2 -b 2 ) / 2*a*c, calculate the angle between the main antenna and the drill bit baseline and the slave antenna and the drill bit baseline; use the formula cosC=(a 2 +b 2 -c 2) / 2*a*b, calculate the angle between the baseline of the master antenna and the slave antenna and the baseline of the slave antenna and the drill bit. After calculating the angle, go to step 3 to select the master and slave antenna coordinates. Among them, B is the angle between the baseline of the master antenna and the drill bit and the baseline of the slave antenna and the drill bit, a is the distance between the master antenna and the drill bit, b is the distance between the master and the slave antenna, c is the distance between the slave antenna and the drill bit, and C is the angle between the baseline of the master antenna and the slave antenna and the baseline of the slave antenna and the drill bit.

[0046] Step 3: In order to ensure the accuracy of the drill bit position, a method of mutual backup of the master and slave antennas is proposed. Both the master and slave antennas use carrier phase differential technology for high-precision coordinate solution. When the master antenna cannot enter the carrier phase differential due to signal quality and other factors, the slave antenna carrier phase differential positioning result is used. First, determine whether the positioning state of the master antenna is the carrier phase differential state. If so, use the master antenna coordinates to calculate the drill bit coordinates; otherwise, determine whether the positioning state of the slave antenna is the carrier phase differential state, and use the slave antenna coordinates to calculate the drill bit coordinates. Otherwise, give a prompt that the current positioning cannot be performed. Then proceed to step 4 to calculate the drill bit position.

[0047] Step 4: The method to calculate the drill position is as follows:

[0048] First, the latitude and longitude positions of the selected antenna are converted into XYZ coordinate system positions using the polar coordinate system transformation relationship and the constants defined in the geodetic coordinate system.

[0049] Then, the east, north and celestial distances are calculated based on the angle and the distance between the two antennas and the drill bit. The formula is E=len*sin(yaw); N=len*cos(yaw); U=0; where E is the east coordinate of the drill bit, N is the north coordinate of the drill bit, U is the celestial coordinate of the drill bit, len is the baseline length from the drill bit to the main antenna, and yaw is the angle between the baselines of the main and slave antennas and the true north.

[0050] Then, using the coordinate transformation relationship, the coordinate position of the drill bit can be obtained. The formula is as follows:

[0051]

[0052] Among them, x, y, z are the x-axis coordinates, y-axis coordinates, and z-axis coordinates of the drill position in the XYZ coordinate system, e, n, and u are the easting coordinates, northing coordinates, and celestial coordinates of the drill position in the ENU coordinate system, λ is the longitude value of the main antenna positioning result, and φ is the latitude value of the main antenna positioning result. The XYZ coordinate system is a general rectangular coordinate system, and the ENU coordinate system is a station center coordinate system or a local northeast celestial coordinate system.

[0053] Then convert the xyz coordinates into longitude and latitude coordinates to find the drill bit coordinates. Since the positions of the two antennas are both centimeter-level high-precision positions, the drill bit position calculated using the antenna positions is also a centimeter-level high-precision position. In this way, the high-precision coordinates of the drill bit are obtained. Then go to step 5 to calculate the deviation value.

[0054] Step 5: First, convert the drill position to the xyz coordinate position, then convert the position to be drilled to the xyz coordinate position, and use the two-point distance calculation formula to calculate the deviation between the drill position and the position to be drilled. Then proceed to step 6 for deviation judgment and drilling guidance.

[0055] Step 6: Make a judgment based on the calculated position deviation and the set threshold. When the position deviation is less than the set threshold, it means that the drilling operation can be performed, and the user is guided to perform the drilling operation. Otherwise, the user is guided to continue to adjust the drill position. After the current hole is drilled, the drilling process of the next hole will be entered, and so on.

[0056] The present invention introduces a high-precision Beidou positioning antenna, uses trigonometric relationships and coordinate transformation to calculate the drill bit coordinates, and adds a method of backup of the positions of the master and slave antennas, which effectively ensures the position accuracy of the drill bit coordinates and effectively guides the drilling positioning operation.

[0057] The purpose and principle of the invention are as follows:

[0058] Using high-precision differential technology, by setting up a base station, the vehicle-mounted terminal is installed on the drilling rig as a mobile station, and two antennas are used to achieve the directional function; the precise drilling position is obtained through the directional angle and the geometric relationship between the drilling rig and the two antennas, which improves the operation accuracy and reduces human errors.

[0059] The purpose of the invention is to improve the positioning accuracy of the punching hole positions, facilitate the punching operation, and avoid errors introduced by human alignment of the hole positions.

[0060] 1. The hardware equipment for drilling operations includes a drilling vehicle with a drill bit installed on it. The drilling operation process is that the operator drives the drilling vehicle to the vicinity of the drilling position, moves the drill bit to a position that is approximately coincident with the calibrated position to be drilled, and then operates the drill bit to perform the drilling operation; after the current drilling is completed, the drilling vehicle is driven to move to another drilling position for drilling operations, and so on.

[0061] 2. Previously, the judgment of whether the drill bit position coincides with the calibrated hole position was checked by human eyes, with poor accuracy. In order to improve the accurate measurement results of the relative distance between the drill bit and the position of the hole to be drilled, the Beidou high-precision drilling positioning operation auxiliary system is introduced. The drilling positioning operation auxiliary system includes Beidou high-precision positioning and orientation equipment (including two Beidou antennas), Beidou base station equipment, and drilling positioning master control software. Among them, the Beidou high-precision positioning and orientation equipment is installed in the drilling vehicle. The two antennas of the Beidou high-precision positioning and orientation equipment are installed in the front and rear directions of the vehicle respectively. The one installed in the front is the main antenna, and the one installed in the rear is the slave antenna. The Beidou base station equipment is the improved differential data of the Beidou high-precision positioning and orientation equipment, and is set up at the true value point position that has been calibrated by surveying and mapping. The drilling positioning master control software is installed on the main control computer of the drilling vehicle to guide the drilling operation.

[0062] 3. Working principle of Beidou high-precision drilling positioning operation auxiliary system: Beidou base station equipment sends differential information to Beidou high-precision positioning and orientation equipment in real time through 4G link. Beidou high-precision positioning and orientation equipment uses the observation data received by its main antenna and the received differential data to perform carrier phase difference to achieve centimeter-level positioning accuracy. At the same time, the observation data of the master and slave antennas are used to realize real-time measurement of the angle of the vehicle's driving direction, and the current drilling vehicle position and the drilling vehicle head position are sent to the drilling positioning main control software through the 4G communication link. The drilling positioning main control software calculates the real-time position of the drill bit based on the position and orientation of the drilling vehicle, combined with the triangular relationship between the master and slave antennas and the drill bit position, and compares the real-time position of the drill bit with the position of the hole to be drilled in real time to calculate the relative distance. When the relative distance between the two is within 10cm, the drilling operator is prompted to perform drilling operations; after the current hole operation is completed, the operator is guided to perform the next hole drilling operation. Beidou's high-precision drilling positioning operation auxiliary system uses carrier phase difference technology to obtain the centimeter-level accuracy of the main antenna of Beidou's high-precision positioning and orientation equipment. Since the drill bit is an operating equipment and the antenna cannot be installed, it is necessary to use the geometric relationship between the master and slave antennas and the drilling position to transform and obtain the centimeter-level accuracy of the drilling position. At the same time, the master and slave antennas both perform carrier phase difference decomposition to obtain high-precision coordinate positions. The two antennas back up each other, thereby effectively ensuring the accuracy of the drilling position, improving the accuracy of the drilling operation, and providing effective guidance for the drilling operation.

[0063] 4. Design of drilling positioning master control software

[0064] The main function of the drilling positioning master control software is to perform geometric transformation based on the real-time positioning results of the main antenna to obtain the real-time drill position. In order to determine the geometric relationship, it is first necessary to measure the master-slave antenna position and the drill center position, as well as the angle between the master-slave antenna and the true north when the drilling vehicle is stationary, and calculate the distance between the master-slave antenna and the drill center based on the position; knowing the distance and angle, use the sine theorem to calculate the angle between the drill bit and the main antenna, and the main antenna and the slave antenna. Because the relative position of the drill bit and the master-slave antenna remains unchanged, the angle remains unchanged. When the drilling vehicle moves, the drilling positioning master control software obtains the real-time main antenna position, uses the angle obtained statically, and the main antenna coordinates, and uses the polar coordinate method to calculate the longitude and latitude of the drill bit, thereby obtaining the accurate position of the drill bit.

[0065] In addition to the above-mentioned function of calculating the drilling rig position in real time, the drilling rig positioning main control software also has functions such as calculating and displaying the distance between the drill bit and the point to be drilled, and managing the points to be drilled.

[0066] The entire system includes a positioning directional antenna and equipment, as well as drilling positioning software. The positioning directional antenna and equipment are installed on the drilling rig, and the drilling positioning software is installed on the computer in the drilling vehicle. The equipment reports the positioning and directional results in real time via 4G. The drilling rig software calculates the drilling position in real time based on the positioning and directional results reported by the equipment and the geometric relationship between the antenna and the borehole, thereby realizing the accurate calculation of the drilling position; at the same time, the software can control whether the drilling position of the point to be drilled is accurate, and after judging that it meets the accuracy requirements, it will give a prompt; and the current drilling point and the point to be drilled can be set.

[0067] The contents not described in detail in the specification belong to the prior art known to the professional and technical personnel in the field. It is pointed out here that the above description helps those skilled in the art to understand the invention, but does not limit the protection scope of the invention. Any equivalent replacement, modification and / or simplification of the above description that does not deviate from the essence of the invention falls within the protection scope of the invention.

Claims

1. A high-precision drilling rig positioning method based on Beidou. It is characterized in that The following steps are involved: Step 1, open the drilling rig positioning main control software, and connect the drilling rig positioning main control software to the position point database, and obtain the real-time coordinate position of the main antenna and the slave antenna in the Beidou high-precision positioning and orientation equipment from the position point database, and the main antenna and the slave antenna are installed on the drilling vehicle; Step 2, loading a configuration file, wherein the configuration file stores the coordinate positions of the master antenna and the slave antenna, the distance between the master antenna and the drill bit, the distance between the slave antenna and the drill bit, and the distance between the master and slave antennas measured in a stationary state; Step 3, according to the configuration file, respectively calculate the angle between the main antenna and the drill bit baseline and the true north, and calculate the angle between the slave antenna and the drill bit baseline and the true north; Step 4, calculating the drill bit coordinates according to the real-time coordinates of the master and slave antennas; Step 5, calculating the deviation between the drill bit and the hole to be drilled; Step 6, initially configure the drilling point display and adjust the drill position; Step 7, determine whether the deviation between the current drill position and the position to be drilled is less than a set threshold, if not, return to step 6, if yes, proceed to step 8; Step 8, perform the drilling operation, after the current hole is completed, return to step 6 to enter the drilling process of the next hole, or end the drilling process.

2. The drilling rig positioning method based on Beidou high-precision according to claim 1, It is characterized in that Step 1 includes: the drilling positioning main control software is installed on the drilling vehicle main control machine, the main antenna is installed on the front of the drilling vehicle, the slave antenna is installed on the rear of the drilling vehicle, the Beidou reference station equipment is set up at the true value point position that has been calibrated through surveying and mapping, and the Beidou reference station equipment provides differential data for the Beidou high-precision positioning and orientation equipment. The Beidou high-precision positioning and orientation equipment uses the differential data and the observation value received by the main antenna to perform carrier phase differentiation to achieve centimeter-level positioning accuracy.

3. According to the Beidou high-precision drilling rig positioning method according to claim 1, step 1 includes adopting a master-slave antenna position backup mode so that when the master antenna cannot enter the carrier phase differential, the slave antenna carrier phase differential positioning result can be used.

4. The drilling rig positioning method based on Beidou high-precision according to claim 1, in step 2 include: cosB=(a 2 +c 2 -b 2 ) / 2*a*c; cosC=(a 2 +b 2 -c 2 ) / 2*a*b; Where B is the angle between the baseline of the main antenna and the drill bit and the baseline of the slave antenna and the drill bit, a is the distance between the main antenna and the drill bit, b is the distance between the main and slave antennas, c is the distance between the slave antenna and the drill bit, and C is the angle between the baseline of the main antenna and the slave antenna and the baseline of the slave antenna and the drill bit.

5. The drilling rig positioning method based on Beidou high-precision according to claim 1, in step 3 include: E = len*sin(yaw); N = len*cos(yaw); U＝0； Where E is the east axis or the east coordinate of the drill bit, N is the north axis or the north coordinate of the drill bit, U is the celestial axis or the celestial coordinate of the drill bit, len is the baseline length from the drill bit to the main antenna, and yaw is the angle between the baseline of the main and slave antennas and the true north.

6. According to the high-precision drilling rig positioning method based on Beidou in claim 1, step 4 includes using the observation data of the master-slave antenna to realize the real-time measurement of the angle of the drilling vehicle's travel direction, and sending the current drilling vehicle position and the drilling vehicle head orientation to the drilling positioning main control software through the 4G communication link. The drilling positioning main control software calculates the real-time position of the drill bit according to the position and orientation of the drilling vehicle, combined with the triangular relationship between the master-slave antenna and the drill bit position, so as to compare the real-time position of the drill bit with the position of the hole to be drilled in real time and calculate the relative distance.

7. The drilling rig positioning method based on Beidou high-precision according to claim 1, in step 4 include: Where x, y, z are the x-axis coordinates, y-axis coordinates, and z-axis coordinates of the drill head position in the XYZ coordinate system, e, n, u are the easting coordinates, northing coordinates, and celestial coordinates of the drill head position in the ENU coordinate system, λ is the longitude value of the main antenna positioning result, and φ is the latitude value of the main antenna positioning result.

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