Underground drilling tool posture while drilling measurement device and calibration method and measurement method thereof

Abstract

The present invention discloses a device for measuring the attitude of underground drilling tools while drilling, and a calibration method and a measuring method thereof, wherein the device for measuring the attitude of underground drilling tools while drilling comprises: a probe mechanical structure component and a control component, wherein the probe mechanical structure component comprises a sensor basic skeleton and a communication conversion basic skeleton, and the control component comprises a sensor circuit board, a communication processing circuit board and a control circuit board, wherein the sensor circuit board is provided with three uniaxial accelerometers and three uniaxial magnetometers corresponding to the three axes of the coordinate system where the probe is located, configured to obtain acceleration components and magnetic intensity components at respective current positions along respective installation axes, and transmit them to the control circuit board through the communication processing circuit board; the real-time data measured by the attitude measurement module is corrected and processed through the error model and calibration model of the attitude measurement module on the control circuit board, and the attitude angle of the probe is obtained through the attitude angle calculation model. The present invention has low cost, low installation requirements and accurate measurement.

Description

Technical Field

[0001] The invention belongs to the technical field of underground drilling tool posture measurement in coal mines, and relates to an underground drilling tool posture while-drilling measurement device and a calibration method and a measurement method thereof. Background Art

[0002] In the process of underground drilling in coal mines, drilling tool attitude measurement is an important link to ensure the accuracy of drilling direction and improve drilling efficiency and safety. Traditional drilling tool attitude measurement systems mostly use three-axis accelerometers and three-axis magnetometers. These sensors need to be strictly aligned with the axis of the probe coordinate system during installation, and the non-orthogonal errors between the three axes need to be corrected to ensure measurement accuracy. However, this alignment process is complicated and costly, and the installation accuracy of the sensor is extremely high. In addition, in the prior art, three-axis accelerometers and three-axis magnetometers are easily affected by electromagnetic interference and vibration shock in the complex environment of underground coal mines, resulting in a decrease in measurement accuracy. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides an underground drilling tool posture while-drilling measurement device which does not require alignment, is easy to install, has strong anti-interference ability and high measurement accuracy, and a calibration method and a measurement method thereof.

[0004] The technical solution of the present invention is: The present invention provides a device for measuring the attitude of underground drilling tools while drilling, comprising: a probe tube mechanical structure component and a control component, wherein the probe tube mechanical structure component comprises a sensor basic skeleton and a communication conversion basic skeleton, and the control component comprises a sensor circuit board arranged on the sensor basic skeleton, a communication processing circuit board arranged on the communication conversion basic skeleton, and a control circuit board, wherein the sensor circuit board is provided with a probe tube attitude measurement module, and the attitude measurement module comprises three uniaxial accelerometers and three uniaxial magnetometers, and the three uniaxial accelerometers and the three uniaxial magnetometers are arranged in one-to-one correspondence with the three axes of the coordinate system where the probe tube is located, and the three uniaxial accelerometers and the three uniaxial magnetometers are arranged in one-to-one correspondence with the three axes of the coordinate system where the probe tube is located. The axis accelerometer and the three uniaxial magnetometers are configured to obtain the acceleration component and the magnetic intensity component at their respective current positions along their respective installation axes, and transmit them to the control circuit board through the communication processing circuit board; wherein, the control circuit board is provided with an error model, a calibration model and a calculation model of the attitude measurement module in the probe coordinate system; the error model and the calibration model include the error model and the calibration model of the acceleration component and the error model and the calibration model of the magnetic intensity component; the real-time data measured by the attitude measurement module is corrected and processed through the error model and the calibration model of the attitude measurement module, and the attitude angle of the probe is obtained through the calculation model of the attitude angle.

[0005] Furthermore, the error model of the acceleration component is: ; in, , , are the three-axis acceleration components in the probe coordinate system, , , are the measured values ​​of the three-axis accelerometers respectively, , are the influence coefficients of the measured values ​​of the y accelerometer and the z accelerometer on the acceleration component of the X axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-accelerometer and the z-accelerometer on the acceleration component of the Y-axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-accelerometer and the y-accelerometer on the acceleration component of the Z-axis of the probe coordinate system, , , They are the deviations caused by the three single-axis accelerometer measurements on the X, Y, and Z axes of the probe coordinate system; The calibration model of the acceleration component is: (2) in, is the calibrated acceleration vector No. Quantity, are the polynomial coefficients; The error model of the magnetic intensity component is: (3) in, , , are the magnetic intensity components of the three single-axis magnetometers in the probe coordinate system, , , are the measurement values ​​of the three single-axis magnetometers respectively, , are the influence coefficients of the measured values ​​of the y magnetometer and the z magnetometer on the magnetic intensity component of the X-axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-magnetometer and the z-magnetometer on the magnetic intensity component of the Y-axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-magnetometer and the y-magnetometer on the magnetic intensity component of the Z-axis of the probe coordinate system, , , They are the deviations caused by the three single-axis magnetometer measurements on the X, Y, and Z axes of the probe coordinate system; The calibration model of the magnetic intensity component is: (4) in is the calibrated magnetic intensity vector No. Quantity, are the polynomial coefficients.

[0006] Furthermore, the attitude angle includes an inclination angle, a tool face angle, and an azimuth angle; and the attitude angle calculation model includes: The calculation model of the inclination angle is: ; The calculation model of the tool face angle is:

[0007] The calculation model of the azimuth angle is:

[0008] The invention further provides a calibration method for an underground drilling tool posture measurement while drilling device, which is applied to the underground drilling tool posture measurement while drilling device, and comprises the following steps: S1: Fix the probe tube on the three-axis rotating calibration turntable and rotate it to the initial zero position; S2: adjusting the angle of the three-axis rotating calibration turntable, placing the probe tube in multiple special postures for calibration, and obtaining calibration data of the probe tube in each posture, wherein the calibration data includes calibration values ​​of three single-axis accelerometers, calibration values ​​of three single-axis magnetometers, and special posture angle values, wherein the three single-axis accelerometers include an x ​​accelerometer, a y accelerometer, and a z accelerometer, and the three single-axis magnetometers include an x ​​magnetometer, a y magnetometer, and a z magnetometer; S3: Based on the calibration data and the error model and calibration model of the acceleration component and the error model and calibration model of the magnetic intensity component in the probe coordinate system, obtain the acceleration component error model parameters , magnetic intensity component error model parameters , acceleration component calibration model parameters ( ), magnetic intensity component calibration model parameters ( ); Among them, the error model of the acceleration component is: ; in, , , are the three-axis acceleration components in the probe coordinate system, , , are the measured values ​​of the three-axis accelerometers respectively, , are the influence coefficients of the measured values ​​of the y accelerometer and the z accelerometer on the acceleration component of the X axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-accelerometer and the z-accelerometer on the acceleration component of the Y-axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-accelerometer and the y-accelerometer on the acceleration component of the Z-axis of the probe coordinate system, , , They are the deviations caused by the three single-axis accelerometer measurements on the X, Y, and Z axes of the probe coordinate system; The calibration model of the acceleration component is: (2) in, is the calibrated acceleration vector No. Quantity, are the polynomial coefficients; The error model of the magnetic intensity component is: (3) in, , , are the magnetic intensity components of the three single-axis magnetometers in the probe coordinate system, , , are the measurement values ​​of the three single-axis magnetometers respectively, , are the influence coefficients of the measured values ​​of the y magnetometer and the z magnetometer on the magnetic intensity component of the X-axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-magnetometer and the z-magnetometer on the magnetic intensity component of the Y-axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-magnetometer and the y-magnetometer on the magnetic intensity component of the Z-axis of the probe coordinate system, , , They are the deviations caused by the three single-axis magnetometer measurements on the X, Y, and Z axes of the probe coordinate system; The calibration model of magnetic intensity component is: (4) in is the calibrated magnetic intensity vector No. Quantity, are the polynomial coefficients; S4: writing the error model and calibration model of the acceleration component, the error model and calibration model of the magnetic intensity component and related parameters into the control system of the probe.

[0009] Furthermore, it also includes: S5: Verify the measurement accuracy of the probe; Verifying the measurement accuracy of the probe includes the following steps: S51: Adjust the probe tube to be consistent with the installation posture on the three-axis rotating benchmark turntable, use the three-axis benchmark turntable to adjust the probe tube to multiple nearly horizontal arbitrary verification postures, and record the measured values ​​of the three acceleration components, the three magnetic intensity components, and the turntable verification posture angle value under each verification posture; S52: by using the error model and calibration model of the acceleration component and the error model and calibration model of the magnetic intensity component and related parameters in the control system of the probe, taking the measured values ​​of the three acceleration components and the measured values ​​of the three magnetic intensity components as input quantities, the calibration values ​​of the three-axis acceleration components and the calibration values ​​of the three-axis magnetic intensity components in the probe coordinate system are calculated; S53: by using the attitude angle calculation model, the calibration values ​​of the three-axis acceleration components in the probe coordinate system and the calibration values ​​of the three-axis magnetometer are used as input quantities to calculate the current attitude angle of the probe, and the measured value of the attitude angle is used as the output quantity; S54: Taking the attitude angle of the three-axis rotation benchmark turntable as a standard, analyzing and calculating the error between the attitude angle calculated by the probe measurement under multiple verification attitudes and the attitude angle of the turntable.

[0010] Furthermore, the attitude angle includes an inclination angle, a tool face angle, and an azimuth angle; and the attitude angle calculation model includes: The calculation model of the inclination angle is: ; The calculation model of the tool face angle is: ; The calculation model of the azimuth angle is:

[0011] Furthermore, the error between the tool face angle and the azimuth angle is less than or equal to ±0.5°; and the error between the inclination angle is less than or equal to ±0.2°.

[0012] Furthermore, according to the error model and calibration model of the acceleration component, the acceleration vector in the calibrated probe coordinate system is obtained: ; in is the three-axis acceleration component of the probe coordinate system at the t-th posture of the probe, for The calibrated component value of the acceleration component of the i-th axis.

[0013] Furthermore, according to the magnetic intensity component error model and the calibration model, the magnetic intensity vector in the calibrated probe coordinate system can be obtained: ; in is the three-axis magnetic intensity vector in the probe coordinate system of the probe at the t-th posture, for The calibrated component value of the magnetic intensity component of the i-th axis.

[0014] The present invention further provides a method for measuring an underground drilling tool posture while drilling measurement device, using the underground drilling tool posture while drilling measurement device and the calibration method of the underground drilling tool posture while drilling measurement device, comprising the following steps: Obtain real-time measurement values ​​through the attitude measurement module; Correcting the real-time measurement value measured by the attitude measurement module through the error model and calibration model of the attitude measurement module in the control component; The attitude angle of the probe is obtained by using the corrected data through an attitude angle calculation model.

[0015] The beneficial technical effects of the present invention are: The present invention provides a device for measuring the attitude of underground drilling tools while drilling, and a calibration method and a measurement method thereof. Through a unique calibration method, it is not necessary to align the sensor during installation, and error compensation can be achieved through a calibration algorithm directly after installation, which greatly simplifies the installation and calibration process and reduces the requirements for sensor installation accuracy. Even if the sensor has a certain angle deviation or non-orthogonal error during the installation process, it can be corrected through a calibration method, thereby avoiding the problem of reduced measurement accuracy caused by installation errors, and further improving the reliability and usability of the system. The calibration method adopted by the present invention can accurately compensate the measurement data of the sensor by establishing an error model and a calibration model of an acceleration component and a magnetic intensity component. The calibration accuracy is further improved by solving the model parameters by the least squares method, thereby ensuring the accuracy of the attitude angle measurement of the probe tube. In addition, the present invention reduces the requirements for sensor accuracy by optimizing the design of the device for measuring while drilling and the calibration method, so that a sensor with a lower cost can be selected, further reducing the procurement cost of the system. The power consumption of the probe tube circuit is reduced and the reliable communication transmission distance of the probe tube is increased. The attitude measurement accuracy of the probe tube is further improved and the production and manufacturing process of the probe tube is simplified by optimizing the calibration algorithm. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of an underground drilling tool posture while drilling measurement device in accordance with a preferred embodiment of the present invention; Figure 2 yes Figure 1 A magnified view of the structure of the middle circle; Figure 3 is a circuit schematic diagram of the control assembly of the present invention; Figure 4 It is a flow chart of a calibration method of an underground drilling posture measurement while drilling device of the present invention; Figure 5 It is a schematic diagram comparing the measured inclination angle of the underground drilling posture measurement while drilling device of the present invention and the standard inclination angle of the rotary table; Figure 6 It is a schematic diagram comparing the measuring tool face angle of the underground drilling posture measurement while drilling device of the present invention with the standard tool face angle of the rotary table; Figure 7 It is a schematic diagram comparing the measured azimuth of the underground drilling posture measurement while drilling device of the present invention and the standard azimuth of the turntable. DETAILED DESCRIPTION

[0017] In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the specific implementation methods of the present invention are further described in detail below in conjunction with the drawings and examples. The following examples are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0018] See also Figure 1 to Figure 2 As shown, the present invention provides an underground drilling posture measurement while drilling device 100. The underground drilling tool posture measurement while drilling device 100 includes a probe mechanical structure component 10 and a control component 20.

[0019] The probe mechanical structure assembly 10 is made of beryllium copper material, and includes a sensor basic frame 11, a communication conversion basic frame 12, a probe top column assembly 13, a tube body 14, a centralizer assembly 15 and an end cover 16. In addition, the probe mechanical structure assembly 10 has an X-axis, a Y-axis and a Z-axis.

[0020] The control component 20 includes a sensor circuit board 21 arranged on the sensor basic skeleton 11, a communication processing circuit board 22 arranged on the communication conversion basic skeleton 12, and a control circuit board. The sensor circuit board 21 is provided with a posture measurement module of the probe tube, and the posture measurement module includes three uniaxial accelerometers 3 and three uniaxial magnetometers 4, and the three uniaxial accelerometers 3 and the three uniaxial magnetometers 4 are arranged in a one-to-one correspondence with the three axes of the coordinate system where the probe tube is located. The three uniaxial accelerometers 3 and the three uniaxial magnetometers 4 are configured to obtain the acceleration components and magnetic intensity components at their respective current positions along their respective installation axes. The control circuit board is provided with an error model, a calibration model, and a calculation model of the posture angle of the posture measurement module in the probe tube coordinate system.

[0021] The attitude measurement module obtains the real-time measurement data of the acceleration component and the magnetic intensity component at the respective current position along the respective installation axis, and transmits the data to the control circuit board through the communication processing circuit board. The control circuit board corrects the real-time data measured by the attitude measurement module through the error model and calibration model of the attitude measurement module, and obtains the attitude angle of the probe tube through the attitude angle calculation model using the corrected data.

[0022] The underground drilling attitude measurement while drilling device 100 of the present invention does not need to align the accelerometer 3 and the magnetometer 4 during installation, and can achieve error compensation through the calibration algorithm directly after installation, which greatly simplifies the installation and calibration process and reduces the requirements for the installation accuracy of the accelerometer 3 and the magnetometer 4. Even if the accelerometer 3 and the magnetometer 4 have a certain angle deviation or non-orthogonal error during the installation process, they can be corrected through the calibration method, thereby avoiding the problem of reduced measurement accuracy due to installation errors, and further improving the reliability and ease of use of the underground drilling tool attitude measurement while drilling device 100.

[0023] Furthermore, the error model of the acceleration component is: ; in, , , are the three-axis acceleration components in the probe coordinate system, , , are the measured values ​​of the three uniaxial accelerometers 3, , are the influence coefficients of the measured values ​​of the y accelerometer and the z accelerometer on the acceleration component of the X axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-accelerometer and the z-accelerometer on the acceleration component of the Y-axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-accelerometer and the y-accelerometer on the acceleration component of the Z-axis of the probe coordinate system, , , They are the deviations caused by the measurement values ​​of the three single-axis accelerometers 3 on the X, Y, and Z axes of the probe coordinate system.

[0024] The calibration model of the acceleration component is: (2) in, is the calibrated acceleration vector No. Quantity, are the polynomial coefficients; The error model of the magnetic intensity component is: (3) in, , , are the magnetic intensity components of the three single-axis magnetometers 4 in the probe coordinate system, , , are the measurement values ​​of the three single-axis magnetometers 4, , are the influence coefficients of the measured values ​​of the y magnetometer and the z magnetometer on the magnetic intensity component of the X-axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-magnetometer and the z-magnetometer on the magnetic intensity component of the Y-axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-magnetometer and the y-magnetometer on the magnetic intensity component of the Z-axis of the probe coordinate system, , , They are the deviations caused by the measurement values ​​of the three single-axis magnetometers 4 on the X, Y, and Z axes of the probe coordinate system.

[0025] The calibration model of the magnetic intensity component is: (4) in is the calibrated magnetic intensity vector No. Quantity, are the polynomial coefficients.

[0026] Furthermore, the attitude angle includes an inclination angle, a tool face angle, and an azimuth angle; and the attitude angle calculation model includes: The calculation model of the inclination angle is: ; The calculation model of the tool face angle is: ; The calculation model of the azimuth angle is: .

[0027] See also Figures 3 to 7 Combined with Figure 1 to Figure 2 As shown, the present invention further provides a calibration method of an underground drilling tool posture measurement while drilling device 100, which is applied to the above-mentioned underground drilling tool posture measurement while drilling device 100, and includes the following steps: S1: Fix the probe tube on the three-axis rotating calibration turntable and rotate it to the initial zero position.

[0028] S2: Adjust the angle of the three-axis rotating calibration turntable, place the probe in multiple special postures for calibration, and obtain the calibration data of the probe in each posture, wherein the calibration data includes the calibration values ​​of the three single-axis accelerometers 3, the calibration values ​​of the three single-axis magnetometers 4, and the special posture angle values, wherein the three single-axis accelerometers 3 include an x ​​accelerometer, a y accelerometer and a z accelerometer, and the three single-axis magnetometers 4 include an x ​​magnetometer, a y magnetometer and a z magnetometer.

[0029] S3: Based on the calibration data and the error model and calibration model of the acceleration component and the error model and calibration model of the magnetic intensity component in the probe coordinate system, obtain the acceleration component error model parameters , magnetic intensity component error model parameters , acceleration component calibration model parameters ( ), magnetic intensity component calibration model parameters ( ); The error model of the acceleration component (also called the measurement model of the acceleration component) is: ; in, , , are the acceleration components of the three uniaxial accelerometers 3 in the probe coordinate system, , , are the measured values ​​of the three uniaxial accelerometers 3, , are the influence coefficients of the measured values ​​of the y accelerometer and the z accelerometer on the acceleration component of the X axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-accelerometer and the z-accelerometer on the acceleration component of the Y-axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-accelerometer and the y-accelerometer on the acceleration component of the Z-axis of the probe coordinate system, , , They are the deviations caused by the measurement values ​​of the three single-axis accelerometers 3 on the X, Y, and Z axes of the probe coordinate system.

[0030] The calibration model of the acceleration component is: (2) in, is the calibrated acceleration vector No. Quantity, are the polynomial coefficients; The error model of the magnetic intensity component is: (3) in, , , are the magnetic intensity components of the three single-axis magnetometers 4 in the probe coordinate system, , , are the measurement values ​​of the three single-axis magnetometers 4, , are the influence coefficients of the measured values ​​of the y magnetometer and the z magnetometer on the magnetic intensity component of the X-axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-magnetometer and the z-magnetometer on the magnetic intensity component of the Y-axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-magnetometer and the y-magnetometer on the magnetic intensity component of the Z-axis of the probe coordinate system, , , They are the deviations caused by the measurement values ​​of the three single-axis magnetometers 4 on the X, Y, and Z axes of the probe coordinate system.

[0031] The calibration model of magnetic intensity component is: (4) in is the calibrated magnetic intensity vector No. Quantity, are the polynomial coefficients.

[0032] For the sake of clarity, the following description uses a specific rotation angle as an example, but the description should not be limited thereto.

[0033] In this embodiment, the angle of the three-axis rotary calibration turntable is adjusted, the probe is placed in multiple special postures for calibration, and the calibration data of the probe in each posture is obtained, including the following steps: S21: Keep the outer and middle axes of the calibration platform stationary, rotate the inner axis of the calibration platform (i.e., rotate around the X-axis of the probe tube coordinate system), and adjust the probe tube tool face angle to 0°, 10°, 30°, 45°, 60°, 80°, 90°, 100°, 120°, 135°, 150°, 170°, 180°, 190°, 210°, 225°, 240°, 260°, 270°, 280°, 300°, 315°, 330°, 350°, and 360°, a total of 25 positions. Record the triaxial accelerometer component values ​​at each of the above positions as follows: Accelerometer components at each position of the X-axis: ; Accelerometer components at each position of the Y axis: ; Accelerometer components at each position of the Z axis: ;

[0034] S22: Keep the outer and inner axes of the calibration platform stationary, rotate the center axis of the calibration platform to adjust the inclination angle of the probe tube to 0°, 10°, 30°, 45°, 60°, 80°, 90°, 100°, 120°, 135°, 150°, 170°, 180°, 190°, 210°, 225°, 240°, 260°, 270°, 280°, 300°, 315°, 330°, 350°, 360°, a total of 25 positions, and record the triaxial accelerometer component values ​​at each of the above positions as follows: Accelerometer components at each position of the X-axis: ; Accelerometer components at each position of the Y axis: ; Accelerometer components at each position of the Z axis: ; S23: Rotate the center axis of the calibration table, adjust the probe angle to 90° and fix it, keep the tool face angle at 0°, and rotate the outer axis of the calibration table (i.e. around the X axis of the drilling tool coordinate system) at a constant speed for more than one circle, that is, adjust the probe azimuth to change continuously at a constant speed of more than 360°, and continuously record during the rotation of the outer axis points ( )’s three-axis magnetometer data are as follows: Magnetometer components at each position of the X-axis: ; Magnetometer components at each position of the Y axis: ; Magnetometer components at each position of the Z axis: ; S24: Rotate the center axis of the calibration table, adjust the probe tube inclination to 0° and fix it, rotate the inner axis of the calibration table to adjust the probe tube tool face angle to 90° and fix it, rotate the outer axis of the calibration table (i.e. around the Y axis of the drilling tool coordinate system) at a constant speed for more than one circle, that is, adjust the probe tube azimuth to change continuously at a constant speed of more than 360°, and continuously record during the rotation of the outer axis points ( )’s three-axis magnetometer data are as follows: Magnetometer components at each position of the X-axis: ; Magnetometer components at each position of the Y axis: ; Magnetometer components at each position of the Z axis: ; S25: Rotate the center axis of the calibration table, adjust the probe tube inclination to 0° and fix it, rotate the inner axis of the calibration table, adjust the probe tube tool face angle to 0° and fix it, rotate the outer axis of the calibration table (i.e. around the Z axis of the drilling tool coordinate system) at a constant speed for more than one circle, that is, adjust the probe tube azimuth to a constant speed continuous change of more than 360°, and continuously record during the rotation of the outer axis points ( )’s three-axis magnetometer data are as follows: Magnetometer components at each position of the X-axis: ; Magnetometer components at each position of the Y axis: ; Magnetometer components at each position of the Z axis: ; Based on the data of the three uniaxial accelerometers obtained in S21 and S22, the error model of the acceleration component is applied to solve the error model parameters of the acceleration component.

[0035] First, based on the error model of acceleration component, formula (1) is used to calculate the acceleration component on the X-axis of the probe coordinate system when the inner shaft rotates. , calculate the average accelerometer component of the accelerometer on the Y axis at 25 positions when rotating the center axis of the calibration table , calculate the average accelerometer components of the Z-axis accelerometer at 90° and 270° when rotating the inner axis and the middle axis respectively: = ; = ; ; In order to avoid repeated data acquisition and simplify the calculation process, the third formula in formula (1) is split into: ; in ; ; ; ; ; Then, Substitution ,by Substitute the 25 elements in ,by Substitute the 25 elements in ,by Substitute the 25 elements in ,by Substitution ;by Substitute the 25 elements in ,by Substitute the 25 elements in ,by Substitute the 25 elements in ;by Substitution ,by and Substitute ,by and Substitute ;by Substitution ,by and Substitute ,by and Substitute , then we can get the linear equation system: ; ; ; Finally, solve the above linear equations separately to obtain the parameters , , , , , , , , , The least squares solution of , where .

[0036] Based on the data of the three single-axis magnetometers obtained in S23 and S25, the error model of the magnetic intensity component (Formula (3)) is applied to solve the error model parameters of the magnetic intensity component.

[0037] First, ask At all points where data was collected The average value of the magnetometer values ​​at the positions is calculated by the same method. and : = ; = ; = ;

[0038] Then, Substitution ,by of Substitute the elements into ,by of Substitute the elements into ,by of Substitute the elements into ;by Substitution ,by of Substitute the elements into ,by of Substitute the elements into ,by of Substitute the elements into ;by Substitution ,by of Substitute the elements into ,by of Substitute the elements into ,by of Substitute the elements into ; Then we can get the linear equations: ; ; ; Finally, the above linear equations are solved separately to obtain the magnetometer error model parameters: , , , , , , , , The least squares solution of .

[0039] Furthermore, a calibration model of the acceleration component in the probe coordinate system is calculated.

[0040] First, based on the obtained parameters of the acceleration error model, , , , is the input of the acceleration component error model, and the output is calculated by the acceleration component error model. , , , They are: ; ; ; ; Then, referring to the acceleration components of each axis of the probe coordinate system to calibrate the model, it can be known that , , , The input of the probe acceleration calibration model is the theoretical acceleration value on the probe coordinate axis under the corresponding special position and attitude is the output of the calibration model. The special position angle is as follows: ; According to the probe coordinate system calibration model, the equation group can be obtained: ; ; ; ; Finally, by solving the above linear equations respectively, the calibration model parameters of the accelerometer on the X-axis of the probe coordinate system can be obtained: , , , ; Accelerometer calibration model parameters of the probe coordinate system Y axis: , , , ; Accelerometer calibration model parameters of the probe coordinate system Z axis: , , , .

[0041] Furthermore, the magnetic intensity component calibration model parameters of the probe coordinate system are calculated.

[0042] First, based on the obtained magnetic intensity component error model parameters, , , , , , , , , is the input of the magnetic intensity component error model, and its output is obtained by calculating the magnetic intensity component error model. , , , , , , respectively: ; Then, based on the above data, the input of the probe coordinate system magnetic intensity vector calibration model is obtained: ; ; ; ; ; ; Referring to the magnetic intensity component calibration model of each axis of the probe coordinate system, for the convenience of calculation, the maximum and minimum values ​​of the theoretical output of each axis of the probe coordinate system in a special posture are set to 3600 and -3600. Then, combined with the magnetic intensity component calibration model, the output of the above magnetic intensity component error model is used as the input of the magnetic intensity calibration model to obtain: ; Solving the above linear equations can obtain the calibration model parameters of the magnetic intensity component of the X-axis of the probe coordinate system: , ; Magnetic intensity component of Y axis calibrates model parameters , ; Magnetic intensity component calibration model parameters of the Z axis , .

[0043] S4: writing the error model and calibration model of the acceleration component, the error model and calibration model of the magnetic intensity component and related parameters into the control system of the probe.

[0044] S5: Verify the measurement accuracy of the probe.

[0045] Among them, verifying the measurement accuracy of the probe includes the following steps: S51: Adjust the probe tube to be consistent with the installation posture on the three-axis rotating benchmark turntable, use the three-axis benchmark turntable to adjust the probe tube to multiple nearly horizontal arbitrary verification postures, and record the measured values ​​of the three acceleration components, the three magnetic intensity components, and the turntable verification posture angle value under each verification posture.

[0046] S52: Through the error model and calibration model of the acceleration component and the error model and calibration model of the magnetic intensity component and related parameters in the control system of the probe, the actual measured values ​​of the three acceleration components and the three magnetic intensity components are used as input quantities to calculate the calibration values ​​of the three-axis acceleration components and the calibration values ​​of the three-axis magnetic intensity components in the probe coordinate system.

[0047] Furthermore, according to the error model and calibration model of the acceleration component, the acceleration vector in the calibrated probe coordinate system is obtained:

[0048] in is the three-axis acceleration component of the probe coordinate system at the t-th posture of the probe, for The calibrated component value of the acceleration component of the i-th axis.

[0049] Furthermore, according to the magnetic intensity component error model and the calibration model, the magnetic intensity vector in the calibrated probe coordinate system can be obtained:

[0050] in is the three-axis magnetic intensity vector in the probe coordinate system of the probe at the t-th posture, for The calibrated component value of the magnetic intensity component of the i-th axis.

[0051] S53: The attitude angle calculation model is used to calculate the current attitude angle of the probe tube using the calibration values ​​of the three-axis acceleration components and the calibration values ​​of the three-axis magnetometer in the probe tube coordinate system as input quantities, and the measured value of the attitude angle is used as the output quantity.

[0052] Furthermore, the attitude angle includes an inclination angle, a tool face angle, and an azimuth angle; and the attitude angle calculation model includes: The calculation model of the inclination angle is: ; The calculation model of the tool face angle is:

[0053] The calculation model of the azimuth angle is: ; ;

[0054] S54: Taking the attitude angle of the three-axis rotation benchmark turntable as a standard, analyzing and calculating the error between the attitude angle calculated by the probe measurement under multiple verification attitudes and the attitude angle of the turntable.

[0055] See also Figure 5~Figure 7 As shown, three different probes using the underground drilling tool posture measurement while drilling device 100 and its calibration method and measurement method of the present invention can control the inclination error and tool face angle error within ±0.2° and the azimuth error within ±0.5° in 200 verification postures. Therefore, the error of the calibrated tool face angle and the azimuth angle of the present invention is less than or equal to ±0.5°; the error of the inclination angle is less than or equal to ±0.2°.

[0056] The present invention further provides a method for measuring an underground drilling tool posture while drilling measurement device 100, and using the underground drilling tool posture while drilling measurement device and the calibration method of the underground drilling tool posture while drilling measurement device, the method comprises the following steps: Get real-time measurement values ​​through the attitude measurement module.

[0057] The real-time measurement value measured by the attitude measurement module is corrected by using the error model and calibration model of the attitude measurement module in the control component.

[0058] The attitude angle of the probe is obtained by using the corrected data through an attitude angle calculation model.

[0059] Specifically, three uniaxial accelerometers 3 and three uniaxial magnetometers 4 are used as measurement sensors to obtain the actual measurement values ​​of three-axis acceleration and the actual measurement values ​​of three-axis magnetometers, and the errors between the installation axes of the accelerometers 3 and the magnetometers 4 and the axes of the probe coordinate system during installation are considered, and an acceleration component error model and a magnetic intensity component error model of the probe coordinate system are established. The actual measurement values ​​of the sensors are used as input, and the actual measurement values ​​of the three accelerometers 3 and the three magnetometers 4 are converted into acceleration components and magnetic intensity components of each axis of the probe coordinate system after error compensation through the error model.

[0060] Then, considering the influence of the zero bias and sensitivity deviation of the sensor, the acceleration component and magnetic intensity component of each axis of the probe coordinate system are calibrated directly, and the acceleration component calibration model and magnetic intensity component calibration model of the probe coordinate system are established. The output of the probe coordinate system error model is used as the input of the calibration model, and the calibrated acceleration component values ​​and magnetic intensity component values ​​of each axis of the probe coordinate system are calculated through the calibration model.

[0061] Finally, based on the definition of the probe attitude angle, the relationship between the acceleration components and magnetic intensity components of each axis of the probe coordinate system and the probe attitude angle is analyzed, and an attitude angle calculation model is derived. The calibrated acceleration component values ​​and magnetic intensity component values ​​of each axis of the probe coordinate system are used as input to calculate the current attitude angle of the probe.

[0062] In summary, the present invention provides an underground drilling tool attitude measurement device 100 and its calibration method and measurement method, which can obtain the attitude angle of the probe in real time, and has a great contribution to the field of underground drilling tool attitude measurement and low-precision inertial navigation technology in coal mines. It avoids the alignment problem between the traditional three-axis accelerometer, three-axis magnetometer, and carrier, reduces the installation accuracy requirements for the three-axis accelerometer 3 and the three-axis magnetometer 4, further reduces the circuit power consumption and manufacturing cost, and improves the communication transmission distance, attitude measurement accuracy and stability. Through a unique calibration method, there is no need to align the sensor during installation, and the error compensation can be achieved through the calibration algorithm directly after installation, which greatly simplifies the installation and calibration process and reduces the requirements for sensor installation accuracy. Even if the sensor has a certain angle deviation or non-orthogonal error during the installation process, it can be corrected by the calibration method, thereby avoiding the problem of reduced measurement accuracy caused by installation error, and further improving the reliability and ease of use of the system. The calibration method adopted by the present invention can accurately compensate the measurement data of the sensor by establishing an error model and a calibration model of the acceleration component and the magnetic intensity component. By solving the model parameters by the least square method, the calibration accuracy is further improved, thereby ensuring the accuracy of the probe attitude angle measurement. In addition, the present invention reduces the requirements for sensor accuracy by optimizing the design and calibration method of the underground drilling tool attitude measurement device 100, so that lower-cost sensors can be selected, further reducing the procurement cost of the system. The power consumption of the probe circuit is reduced and the reliable communication transmission distance of the probe is increased. The calibration algorithm is optimized to further improve the attitude measurement accuracy of the probe and simplify the production and manufacturing process of the probe.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the technical principles of the present invention, and these improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. An underground drilling tool posture measurement device, characterized in that: include: A probe mechanical structure component and a control component, wherein the probe mechanical structure component includes a sensor basic skeleton and a communication conversion basic skeleton, and the control component includes a sensor circuit board arranged on the sensor basic skeleton, a communication processing circuit board and a control circuit board arranged on the communication conversion basic skeleton, wherein the sensor circuit board is provided with a probe posture measurement module, and the posture measurement module includes three single-axis accelerometers and three single-axis magnetometers, and the three single-axis accelerometers and the three single-axis magnetometers are arranged in one-to-one correspondence with the three axes of the coordinate system where the probe is located, and the three single-axis accelerometers and the three single-axis magnetometers are arranged in one-to-one correspondence with the three axes of the coordinate system where the probe is located. The magnetometers are configured to obtain acceleration components and magnetic intensity components at their respective current positions along their respective installation axes, and transmit them to the control circuit board through the communication processing circuit board; wherein the control circuit board is provided with an error model, a calibration model and a calculation model of an attitude measurement module in a probe coordinate system; the error model and the calibration model include an error model and a calibration model of the acceleration component and an error model and a calibration model of the magnetic intensity component; the real-time data measured by the attitude measurement module is corrected and processed through the error model and the calibration model of the attitude measurement module, and the attitude angle of the probe is obtained through the calculation model of the attitude angle.

2. The underground drilling tool posture measurement while drilling device according to claim 1, characterized in that: The error model of the acceleration component is: （1） in, , , are the three-axis acceleration components in the probe coordinate system, , , are the measured values ​​of the three-axis accelerometers respectively, , are the influence coefficients of the measured values ​​of the y accelerometer and the z accelerometer on the acceleration component of the X axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-accelerometer and the z-accelerometer on the acceleration component of the Y-axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-accelerometer and the y-accelerometer on the acceleration component of the Z-axis of the probe coordinate system, , , They are the deviations caused by the three single-axis accelerometer measurements on the X, Y, and Z axes of the probe coordinate system; The calibration model of the acceleration component is: （2） in, is the calibrated acceleration vector No. Quantity, are the polynomial coefficients; The error model of the magnetic intensity component is: （3） in, , , are the magnetic intensity components of the three single-axis magnetometers in the probe coordinate system, , , are the measurement values ​​of the three single-axis magnetometers respectively, , are the influence coefficients of the measured values ​​of the y magnetometer and the z magnetometer on the magnetic intensity component of the X-axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-magnetometer and the z-magnetometer on the magnetic intensity component of the Y-axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-magnetometer and the y-magnetometer on the magnetic intensity component of the Z-axis of the probe coordinate system, , , They are the deviations caused by the three single-axis magnetometer measurements on the X, Y, and Z axes of the probe coordinate system; The calibration model of the magnetic intensity component is: （4） in is the calibrated magnetic intensity vector No. Quantity, are the polynomial coefficients.

3. The underground drilling tool posture measurement while drilling device according to claim 1, characterized in that: The attitude angle includes inclination angle, tool face angle and azimuth angle; the attitude angle calculation model includes: The calculation model of the inclination angle is: ; The calculation model of the tool face angle is: ； The calculation model of the azimuth angle is: 。 4. A calibration method for an underground drilling tool posture measurement while drilling device, using the underground drilling tool posture measurement while drilling device according to any one of claims 1 to 3, characterized in that: The following steps are involved: S1: Fix the probe tube on the three-axis rotating calibration turntable and rotate it to the initial zero position; S2: adjusting the angle of the three-axis rotating calibration turntable, placing the probe tube in multiple special postures for calibration, and obtaining calibration data of the probe tube in each posture, wherein the calibration data includes calibration values ​​of three single-axis accelerometers, calibration values ​​of three single-axis magnetometers, and special posture angle values, wherein the three single-axis accelerometers include an x ​​accelerometer, a y accelerometer, and a z accelerometer, and the three single-axis magnetometers include an x ​​magnetometer, a y magnetometer, and a z magnetometer; S3: Based on the calibration data and the error model and calibration model of the acceleration component and the error model and calibration model of the magnetic intensity component in the probe coordinate system, obtain the acceleration component error model parameters , magnetic intensity component error model parameters , acceleration component calibration model parameters ( ), magnetic intensity component calibration model parameters ( ); Among them, the error model of the acceleration component is: ； in, , , are the three-axis acceleration components in the probe coordinate system, , , are the measured values ​​of the three-axis accelerometers respectively, , are the influence coefficients of the measured values ​​of the y accelerometer and the z accelerometer on the acceleration component of the X axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-accelerometer and the z-accelerometer on the acceleration component of the Y-axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-accelerometer and the y-accelerometer on the acceleration component of the Z-axis of the probe coordinate system, , , They are the deviations caused by the three single-axis accelerometer measurements on the X, Y, and Z axes of the probe coordinate system; The calibration model of the acceleration component is: （2） in, is the calibrated acceleration vector No. Quantity, are the polynomial coefficients; The error model of the magnetic intensity component is: ； in, , , are the magnetic intensity components of the three single-axis magnetometers in the probe coordinate system, , , are the measurement values ​​of the three single-axis magnetometers respectively, , are the influence coefficients of the measured values ​​of the y magnetometer and the z magnetometer on the magnetic intensity component of the X-axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-magnetometer and the z-magnetometer on the magnetic intensity component of the Y-axis of the probe coordinate system, , are the influence coefficients of the measured values ​​of the x-magnetometer and the y-magnetometer on the magnetic intensity component of the Z-axis of the probe coordinate system, , , They are the deviations caused by the three single-axis magnetometer measurements on the X, Y, and Z axes of the probe coordinate system; The calibration model of magnetic intensity component is: （4） in is the calibrated magnetic intensity vector No. Quantity, are the polynomial coefficients; S4: writing the error model and calibration model of the acceleration component, the error model and calibration model of the magnetic intensity component and related parameters into the control system of the probe.

5. The calibration method of the underground drilling tool posture measurement while drilling device according to claim 4 is characterized in that: Also includes: S5: Verify the measurement accuracy of the probe; The verification of the measurement accuracy of the probe comprises the following steps: S51: Adjust the probe tube to be consistent with the installation posture on the three-axis rotating benchmark turntable, use the three-axis benchmark turntable to adjust the probe tube to multiple nearly horizontal arbitrary verification postures, and record the measured values ​​of the three acceleration components, the three magnetic intensity components, and the turntable verification posture angle value under each verification posture; S52: by using the error model and calibration model of the acceleration component and the error model and calibration model of the magnetic intensity component and related parameters in the control system of the probe, taking the measured values ​​of the three acceleration components and the measured values ​​of the three magnetic intensity components as input quantities, the calibration values ​​of the three-axis acceleration components and the calibration values ​​of the three-axis magnetic intensity components in the probe coordinate system are calculated; S53: by using the attitude angle calculation model, the calibration values ​​of the three-axis acceleration components in the probe coordinate system and the calibration values ​​of the three-axis magnetometer are used as input quantities to calculate the current attitude angle of the probe, and the measured value of the attitude angle is used as the output quantity; S54: Taking the attitude angle of the three-axis rotation benchmark turntable as a standard, analyzing and calculating the error between the attitude angle calculated by the probe measurement under multiple verification attitudes and the attitude angle of the turntable.

6. The calibration method of the underground drilling tool posture measurement while drilling device according to claim 5 is characterized in that: The attitude angle includes inclination angle, tool face angle and azimuth angle; the attitude angle calculation model includes: The calculation model of the inclination angle is: ; The calculation model of the tool face angle is: ; The calculation model of the azimuth angle is: 。 7. The calibration method of the underground drilling tool posture measurement while drilling device according to claim 6 is characterized in that: The error between the tool face angle and the azimuth angle is less than or equal to ±0.5°; the error between the inclination angle is less than or equal to ±0.2°.

8. The calibration method of the underground drilling tool posture measurement while drilling device according to claim 5, characterized in that: According to the error model and calibration model of the acceleration component, the acceleration vector in the calibrated probe coordinate system is obtained: ； in is the three-axis acceleration component of the probe coordinate system at the t-th posture of the probe, for The calibrated component value of the acceleration component of the i-th axis.

9. The calibration method of the underground drilling tool posture measurement while drilling device according to claim 5, characterized in that: According to the magnetic intensity component error model and calibration model, the magnetic intensity vector in the calibrated probe coordinate system can be obtained: ； in is the three-axis magnetic intensity vector in the probe coordinate system of the probe at the t-th posture, for The calibrated component value of the magnetic intensity component of the i-th axis.

10. A method for measuring an underground drilling tool attitude while drilling measurement device, using the underground drilling tool attitude while drilling measurement device according to any one of claims 1 to 3, and the calibration method for the underground drilling tool attitude while drilling measurement device according to any one of claims 4 to 9, characterized in that: The following steps are involved: Obtain real-time measurement values ​​through the attitude measurement module; Correcting the real-time measurement value measured by the attitude measurement module through the error model and calibration model of the attitude measurement module in the control component; The attitude angle of the probe is obtained by using the corrected data through an attitude angle calculation model.

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