Autonomous navigation positioning method for open-air drilling rig based on multi-source sensor fusion

Abstract

This invention discloses an autonomous navigation and positioning method for open-pit drilling rigs based on multi-source sensor fusion, relating to the field of intelligent drilling rig navigation and positioning technology in open-pit mines. The method acquires the current target borehole position, the planar coordinates of three positioning sources, the corresponding fixed plane distance, the coordinates of the positioning sources at the previous sampling time, the previous steady-state drill bit planar coordinates, and the current closure threshold, generating an initial solution for the drill bit plane. Based on the distance deviations from each positioning source to the initial solution for the drill bit plane, a geometric closure monitoring result is formed. When closure anomalies occur, positioning sources are blocked one by one, and suspected abnormal positioning sources are identified based on the remaining source constraint recovery result and the coordinate continuous recovery result. Then, a candidate coordinate set result is formed by combining the effective positioning source set result and the drill bit predicted coordinate result, and the current drill bit planar coordinate result is selected. Finally, the closure threshold result for the next borehole position is updated based on the borehole alignment deviation to improve the reliability of navigation and positioning under short-term anomalies of positioning sources.

Description

Technical Field

[0001] This invention relates to the field of navigation and positioning technology for intelligent drilling rigs in open-pit mines, and more specifically, to an autonomous navigation and positioning method for open-pit drilling rigs based on multi-source sensor fusion. Background Technology

[0002] In open-pit mine blasting and drilling operations, drilling rigs typically need to autonomously locate and align holes according to a pre-set hole network. Existing navigation and positioning methods mostly employ satellite positioning, differential positioning, inertial measurement, vehicle-mounted positioning sources, or multi-positioning source fusion to obtain the spatial position of the drilling rig body, drill rod, or drill bit. For open-pit drilling rigs equipped with multiple positioning sources, the planar coordinates of each positioning source in the mining area's plane coordinate system, as well as the fixed planar distance relationship between each positioning source and the plane projection point of the drill bit, can be used to calculate the plane position of the drill bit. This position can then be used for drilling rig navigation, target hole alignment, and drilling operation control.

[0003] The existing technology has the following shortcomings: In open-pit mining environments, there are various issues such as slope obstruction, drill mast obstruction, vehicle body reflection, satellite signal multipathing, short-term interruption of differential data, and abnormal connection of positioning sources. A single positioning source may suddenly jump or shift at a certain sampling moment. If existing multi-source positioning methods directly use the least squares solution or intersection solution of the three-source distance constraints as the drill bit navigation coordinates, the error of abnormal positioning sources can easily be distributed to the final drill bit coordinates, causing the drill rig to generate implicit offsets near the target hole position. Existing methods usually lack closed-loop monitoring of the fixed geometric relationship of the three sources, evaluation of shielding recovery of abnormal positioning sources, continuity constraints of candidate drill bit coordinates, and feedback correction of hole alignment results for subsequent thresholds, making it difficult to suppress repetitive positioning deviations in a timely manner during continuous hole position operations. Therefore, it is necessary to propose an autonomous navigation and positioning method for open-pit drilling rigs that can combine geometric closure judgment, anomaly source identification, effective location source reconstruction, and borehole position threshold feedback.

[0004] To address the above problems, this invention proposes a solution. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art, embodiments of the present invention provide an autonomous navigation and positioning method for open-pit drilling rigs based on multi-source sensor fusion, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A method for autonomous navigation and positioning of open-pit drilling rigs based on multi-source sensor fusion, including the following steps; Step S1: Obtain the current target hole position result, the coordinate results of the three positioning source planes, the corresponding fixed plane distance result, the coordinate results of the three positioning source planes at the previous sampling time, the coordinate results of the previous steady-state drill bit plane, and the current closure threshold result, and generate the initial solution result of the drill bit plane; Step S2: Generate geometric closure monitoring results based on the deviation between the distance from each positioning source to the initial solution of the drill bit plane and the distance to the corresponding fixed plane, and compare them with the current closure threshold results to generate closure status results. When closure is abnormal, generate shielded candidate drill bit coordinate results by shielding the positioning sources one by one, and determine the suspected abnormal positioning source results based on the shielding recovery evaluation results. Step S3: Generate a set of valid positioning sources based on the closed state results and the results of suspected abnormal positioning sources; generate a predicted coordinate result of the drill bit based on the previous steady-state drill bit plane coordinate result and the adjacent sampled displacement results of the three positioning sources; form a set of candidate coordinates based on the set of valid positioning sources; and select the candidate coordinate with the smallest distance from the predicted coordinate result of the drill bit as the current drill bit plane coordinate result. Step S4: Generate the current hole alignment deviation result based on the current drill bit plane coordinate result and the current target hole position result, and update the next hole closure threshold result based on the current hole alignment deviation result, the allowable alignment deviation result and the suspected abnormal positioning source result.

[0007] In a preferred embodiment, step S1 includes the following: The initial solution results for the drill bit plane include: Using the first positioning source plane coordinate result as the first circle center and the first fixed plane distance result as the first radius, using the second positioning source plane coordinate result as the second circle center and the second fixed plane distance result as the second radius, and using the third positioning source plane coordinate result as the third circle center and the third fixed plane distance result as the third radius, three plane distance constraints are constructed, and the initial solution result of the drill bit plane is obtained by minimizing the three distance deviations; The distance deviation is the difference between the actual distance from the coordinate result of a certain positioning source plane to the coordinate of the candidate drill bit and the corresponding fixed plane distance result; The current initial result of the closure threshold is obtained during the drilling rig installation and calibration stage by continuously collecting the plane coordinates of three positioning sources at multiple sampling times when the drilling rig is stationary or moving at low speed. For each sampling time, the initial solution result of the drill bit plane is generated and the geometric deviation of the three positioning sources relative to the initial solution result of the drill bit plane is calculated. The result is obtained by statistically analyzing the geometric deviations at multiple sampling times. If the drilling rig has just started its operation and there is no previous steady-state drill bit plane coordinate result, then the initial drill bit plane coordinate result is generated based on the plane coordinate results of the three positioning sources and the distance results of the three fixed planes. When the initial geometric closure monitoring meets the initial closure threshold requirement, the initial drill bit plane coordinate result is used as the previous steady-state drill bit plane coordinate result. If the initial geometric closure monitoring does not meet the requirements, a prompt will be made to reacquire the coordinates of the three positioning source planes.

[0008] In a preferred embodiment, step S2 includes the following: Geometric closure monitoring results are generated in the following way: The first distance deviation, the second distance deviation, and the third distance deviation are calculated respectively. The first distance deviation is the absolute value of the difference between the distance from the first positioning source plane coordinate result to the initial solution result of the drill bit plane and the distance result of the first fixed plane. The second distance deviation and the third distance deviation are obtained in the same way. The geometric closure monitoring result is obtained by summing the squares of the three distance deviations, taking the average, and then taking the square root. Compare the geometric closure monitoring results with the current closure threshold results; A normal closure result is generated when the geometric closure monitoring result is less than or equal to the current closure threshold result; an abnormal closure result is generated when the geometric closure monitoring result is greater than the current closure threshold result. The shielding recovery evaluation process includes a first shielding evaluation, a second shielding evaluation, and a third shielding evaluation. The first shielding evaluation refers to temporarily shielding the first positioning source and generating the first shielding candidate drill bit coordinate results using the second and third positioning sources and the previous steady-state drill bit plane coordinate results. The second shielding evaluation refers to temporarily shielding the second positioning source and generating the coordinate results of the second shielding candidate drill bit using the first positioning source, the third positioning source and the previous steady-state drill bit plane coordinate results. The third shielding evaluation refers to temporarily shielding the third positioning source and generating the third shielding candidate drill bit coordinate results using the first positioning source, the second positioning source, and the previous steady-state drill bit plane coordinate results. Each shielding evaluation generates a shielding recovery evaluation result, which includes the recovery result of the remaining source constraints and the coordinate continuity recovery result. When a shielding evaluation meets the recovery conditions, first compare whether the recovery result of the remaining source constraint of the shielding evaluation is less than the geometric closure monitoring result before shielding, and then compare whether the coordinate continuity recovery result of the shielding evaluation is not greater than the maximum allowable drill bit displacement result. If both of the above conditions are met at the same time, it is determined that the shielding evaluation can restore the fixed plane distance constraint and drill bit coordinate continuity after excluding the shielded positioning source. When only one shielding evaluation meets the recovery conditions, that shielding evaluation is determined as the unique optimal shielding evaluation, and the location source shielded in that shielding evaluation is determined as a suspected abnormal location source result.

[0009] When two or three shielding evaluations meet the recovery conditions, the shielding evaluation with the smallest remaining source constraint recovery result is selected first; if the remaining source constraint recovery results cannot be distinguished, the shielding evaluation with the smaller coordinate continuous recovery result is selected; if a unique shielding evaluation still cannot be determined, a multi-source uncertain anomaly result is generated, and a single suspected anomaly location source result is not directly determined. If two or three shielding evaluations meet the recovery conditions and a unique optimal shielding evaluation cannot be determined, then a multi-source uncertain anomaly result is generated. If none of the three shielding evaluations meet the recovery conditions, a closed anomaly unrecovered result will be generated.

[0010] In a preferred embodiment, step S3 includes the following: The method for generating the drill bit predicted coordinates is as follows: The displacement results of the first, second, and third positioning sources are calculated respectively. Each positioning source displacement result is the difference between the positioning source plane coordinate result at the current sampling time and the corresponding positioning source plane coordinate result at the previous sampling time. The median value of the lateral component of the displacement results of the three positioning sources is taken, and the median value of the longitudinal component of the displacement results of the three positioning sources is taken to form the common displacement result of the positioning sources. The common displacement results of the positioning source are superimposed on the previous steady-state drill bit plane coordinate results to obtain the drill bit predicted coordinate results; When the effective set of positioning sources includes three positioning sources, the candidate coordinate set is formed within the common allowable error band of the three distance constraints; When the effective set of positioning sources includes only two positioning sources, the candidate coordinate set consists of the intersection or near intersection of the two distance constraints. When the effective set of location sources cannot form a reliable set of candidate coordinates, the drill bit predicted coordinates are used as temporary drill bit plane coordinates and marked as pending confirmation. Select the candidate coordinates that are closest to the drill bit's predicted coordinates from the candidate coordinate set as the current drill bit's planar coordinate result.

[0011] In a preferred embodiment, step S4 includes the following: The update logic for the next hole closure threshold result is as follows: when the current hole alignment deviation result is greater than the allowable alignment deviation result, the current closure threshold result is reduced by a threshold correction amount to obtain the next hole closure threshold result; When the current hole alignment deviation result is less than or equal to the allowable alignment deviation result and no suspected abnormal positioning source result appears in this hole position, maintain the current closure threshold result or appropriately increase it according to the preset relaxation amount. If the current hole alignment deviation is less than or equal to the allowable alignment deviation but a suspected abnormal positioning source has appeared in this hole, the current closure threshold result is maintained and not relaxed. Set the lower limit result and the upper limit result of the closure threshold. The closure threshold result of the next hole position shall not be less than the lower limit result and shall not be greater than the upper limit result. Generate abnormal location source record results. If the same location source is identified as a suspected abnormal location source in multiple consecutive hole positions, generate a location source verification prompt result. The rule for updating the previous steady-state drill bit plane coordinate result is as follows: When the current drill bit plane coordinate result adopts the steady-state result and the hole alignment is completed, the current drill bit plane coordinate result is updated to the new previous steady-state drill bit plane coordinate result; otherwise, it is not updated.

[0012] The technical effects and advantages of the autonomous navigation and positioning method for open-pit drilling rigs based on multi-source sensor fusion in this invention are as follows: This invention combines the planar coordinate results of three positioning sources with the corresponding fixed plane distance results to first generate an initial solution for the drill bit plane. Then, it uses geometric closure monitoring results to determine whether the three-source positioning relationship is stable, so that the drill bit coordinates no longer directly depend on the single three-source solution result. In case of closure anomalies, this invention identifies suspected abnormal positioning sources by shielding positioning sources one by one and combining the remaining source constraint recovery results and coordinate continuity recovery results. This reduces the traction effect of a single positioning source due to occlusion, multipath reflection, differential data interruption, or connection anomalies on the final drill bit plane coordinates. Based on the effective positioning source set results, the common displacement results of positioning sources, and the previous steady-state drill bit plane coordinate results, a predicted drill bit coordinate result is generated. The coordinate with the smallest distance from the predicted drill bit coordinate result is selected from the candidate coordinate set results as the current drill bit plane coordinate result, so that the coordinate selection simultaneously meets the requirements of geometric constraints and motion continuity. This invention performs a single-iteration correction on the closure threshold result of the next hole position based on the current hole alignment deviation result, and forms an anomaly record by combining the suspected abnormal positioning source results. This allows the positioning quality of the current hole position to be fed back to the anomaly monitoring process of subsequent holes, reducing the risk of repeated positioning deviations in consecutive holes. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of the autonomous navigation and positioning method for open-pit drilling rigs based on multi-source sensor fusion according to the present invention. Detailed Implementation

[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0015] Example

[0016] Please see Figure 1 As shown, this invention discloses an autonomous navigation and positioning method for open-pit drilling rigs based on multi-source sensor fusion, including the following steps: Step S1: Obtain the current target hole position result, the coordinate results of the three positioning source planes, the corresponding fixed plane distance result, the coordinate results of the three positioning source planes at the previous sampling time, the coordinate results of the previous steady-state drill bit plane, and the current closure threshold result, and generate the initial solution result of the drill bit plane; Step S2: Generate geometric closure monitoring results based on the deviation between the distance from each positioning source to the initial solution of the drill bit plane and the distance to the corresponding fixed plane, and compare them with the current closure threshold results to generate closure status results. When closure is abnormal, generate shielded candidate drill bit coordinate results by shielding the positioning sources one by one, and determine the suspected abnormal positioning source results based on the shielding recovery evaluation results. Step S3: Generate a set of valid positioning sources based on the closed state results and the results of suspected abnormal positioning sources; generate a predicted coordinate result of the drill bit based on the previous steady-state drill bit plane coordinate result and the adjacent sampled displacement results of the three positioning sources; form a set of candidate coordinates based on the set of valid positioning sources; and select the candidate coordinate with the smallest distance from the predicted coordinate result of the drill bit as the current drill bit plane coordinate result. Step S4: Generate the current hole alignment deviation result based on the current drill bit plane coordinate result and the current target hole position result, and update the next hole closure threshold result based on the current hole alignment deviation result, the allowable alignment deviation result and the suspected abnormal positioning source result.

[0017] In step S1, the current target hole position result, the coordinate results of the three positioning source planes, the corresponding fixed plane distance result, the coordinate results of the three positioning source planes at the previous sampling time, the previous steady-state drill bit plane coordinate result, and the current closure threshold result are obtained to generate the initial solution result of the drill bit plane, which specifically includes: Acquire the current target hole position of the target open-pit drilling rig, the first positioning source plane coordinate result, the second positioning source plane coordinate result, the third positioning source plane coordinate result, the first fixed plane distance result, the second fixed plane distance result, the third fixed plane distance result, the three positioning source plane coordinate results at the previous sampling time, the previous steady-state drill bit plane coordinate result, and the current closure threshold initial result; Based on the coordinate results of the three positioning sources and the distance results of the three fixed planes, the initial solution result of the drill bit plane at the current sampling time is generated; It should be noted that the current target hole position result is the designed hole position that the drilling rig needs to align with in this autonomous hole finding process, which includes the target hole position number result and the target hole position design plane coordinate result; The first, second, and third positioning source plane coordinate results are the coordinate results of the three positioning sources in the mining area plane coordinate system at the current sampling time. The first fixed plane distance result, the second fixed plane distance result, and the third fixed plane distance result are respectively the calibration distance results between the first positioning source, the second positioning source, and the third positioning source and the drill bit plane projection point; The fixed plane distance result is obtained during the drilling rig installation and commissioning phase through distance measurement, structural calibration, or conversion of manufacturer's installation dimensions. Under the condition that the drilling rig structure remains unchanged, it is used as a fixed result in subsequent calculations. For example, the first positioning source and the second positioning source can be installed at a spaced-apart position on the top of the drilling rig body, and the third positioning source can be installed near the drill pipe and maintain a defined planar geometric relationship with the drill pipe; The third positioning source will change height with the drill pipe during drilling, but during the plane positioning stage, the plane distance between the third positioning source and the plane projection point of the drill bit remains the fixed plane distance result after installation and calibration. Furthermore, the planar coordinates of the three positioning sources at the previous sampling time are used to form the common displacement results of the positioning sources in the subsequent process; The previous steady-state drill bit plane coordinate results are used to generate subsequent drill bit predicted coordinate results; The previous steady-state drill bit plane coordinate result refers to the drill bit plane coordinate result that has been monitored and adopted by geometric closure at the previous sampling time or in the previous stable sampling window; If the drilling rig has just started its operation and there is no previous steady-state drill bit plane coordinate result, then the initial drill bit plane coordinate result is generated based on the plane coordinate results of the three positioning sources and the distance results of the three fixed planes. When the initial geometric closure monitoring meets the initial closure threshold requirement, the initial drill bit plane coordinate result is used as the previous steady-state drill bit plane coordinate result. If the initial geometric closure monitoring does not meet the requirements, it will prompt you to reacquire the plane coordinates of the three positioning sources until the initial closure requirements are met before entering the autonomous hole finding process. It should be noted that the current initial closure threshold result is used in step S2 to determine whether the geometric closure monitoring result is abnormal. The current initial closure threshold result can be determined during the drilling rig installation and calibration stage. The determination method is as follows: when the drilling rig is in a stationary state or in a low-speed straight-line state, the plane coordinate results of the three positioning sources are continuously collected at multiple sampling times. For each sampling time, the initial solution result of the drill bit plane is generated, and the geometric deviation of the three positioning sources relative to the initial solution result of the drill bit plane is calculated. The initial closure threshold result is obtained by statistically analyzing the geometric deviation at multiple sampling times. For example, the average value of the geometric closure monitoring results at multiple sampling times plus the standard deviation of a preset multiple can be used as the initial result of the current closure threshold. Alternatively, the stable upper quantile value in the geometric closure monitoring results at multiple sampling times can be used as the initial result of the current closure threshold. This initial closure threshold result is not used as a fixed constant, but is updated in step S4 according to the hole alignment deviation result. Furthermore, when generating the initial solution result of the drill bit plane, three plane distance constraints are constructed, with the first positioning source plane coordinate result as the first circle center and the first fixed plane distance result as the first radius; the second positioning source plane coordinate result as the second circle center and the second fixed plane distance result as the second radius; and the third positioning source plane coordinate result as the third circle center and the third fixed plane distance result as the third radius. Since satellite positioning results contain observation errors, the three distance constraints usually do not intersect at the same point. The initial solution of the drill bit plane is obtained by minimizing the deviation of the three distances. The distance deviation is the difference between the actual distance from the coordinate result of a certain positioning source plane to the coordinate of the candidate drill bit and the distance result of the corresponding fixed plane. It should be noted that the initial solution result of the drill bit plane is only used as the basic solution result. The three-positioning source plane positioning model often uses the least squares solution result directly as the real-time plane position of the drill bit, and does not directly use it as the final navigation coordinate output. This result is named the initial solution result of the drill bit plane, and is used for subsequent steps to monitor geometric closure anomalies. For example, when all three positioning sources are in normal condition, the deviation between the initial solution of the drill bit plane and the actual drill bit position is small. When one of the positioning sources is offset due to slope obstruction, drilling mast obstruction, satellite signal multipath reflection, short-term interruption of differential data, or abnormal connection of the positioning source, the initial solution of the drill bit plane may still be calculated, but the result will be affected by the abnormal positioning source. If the initial solution of the drill bit plane is directly used as the navigation coordinate, it will cause the drilling rig to have a hidden offset near the target hole position. Furthermore, the results generated in this step include the current target hole position result, the coordinate results of the three positioning source planes, the distance results of the three fixed planes, the coordinate results of the three positioning source planes at the previous sampling time, the coordinate results of the previous steady-state drill bit plane, the current closure threshold result, and the initial solution result of the drill bit plane; The relationship between the above results is as follows: the current target hole position result is used to calculate the hole position alignment deviation in the subsequent calculation; the three positioning source plane coordinate results and the three fixed plane distance results are used to generate the initial solution result of the drill bit plane and the geometric closure monitoring result; the three positioning source plane coordinate results and the previous steady-state drill bit plane coordinate result are used to generate the drill bit predicted coordinate result. The current closure threshold result is used to determine whether the current three-source geometric relationship is abnormal; This step unifies the acquisition of the current target hole position result, the three positioning source plane coordinate results, the three fixed plane distance results, the positioning source plane coordinate results at the previous sampling time, the previous steady-state drill bit plane coordinate results, and the current closure threshold result. Based on the fixed plane distance relationship between the three positioning sources and the drill bit, it generates the initial solution result of the drill bit plane. While retaining the existing three-source positioning basic model, it converts the drill bit coordinates directly used for navigation into the basic solution result for subsequent verification. This avoids directly using the initial solution result of the drill bit plane as the final navigation coordinate output when there are short-term anomalies in the positioning sources. This step provides the positioning source plane coordinate results, fixed plane distance results, and initial solution result of the drill bit plane for geometric closure anomaly monitoring in step S2, and also provides the positioning source plane coordinate results at the previous sampling time and the previous steady-state drill bit plane coordinate results for the generation of drill bit predicted coordinates in step S3. This forms the basic data entry point for subsequent anomaly identification, coordinate reconstruction, and threshold iteration.

[0018] In step S2, a geometric closure monitoring result is generated based on the deviation between the distance from each positioning source to the initial solution of the drill bit plane and the corresponding fixed plane distance result. This result is then compared with the current closure threshold result to generate a closure status result. If a closure anomaly occurs, candidate drill bit coordinates are generated by shielding each positioning source one by one. Suspected abnormal positioning source results are determined based on the shielding recovery evaluation result. Specific details include: Based on the initial solution of the drill bit plane, the coordinate results of the three positioning source planes, and the distance results of the three fixed planes, the geometric closure monitoring results are generated. The geometric closure monitoring result is compared with the current closure threshold result. If the geometric closure monitoring result does not exceed the current closure threshold result, a normal closure result is generated. When the geometric closure monitoring result exceeds the current closure threshold result, an abnormal closure result is generated, and the shielding recovery evaluation process is initiated to determine whether there are any suspected abnormal location source results. It should be noted that the geometric closure monitoring results are used to characterize whether the fixed plane distance relationship between the three positioning sources and the drill bit is still valid. This result monitors the overall geometric relationship of the three sources. If all three positioning sources are normal, the distances from the three positioning sources to the initial solution of the drill bit plane should be close to the distances of the three fixed planes respectively. If one of the positioning sources is offset, although the initial solution of the drill bit plane can still be obtained, the overall level of the three distance deviations will increase. The overall geometric closure monitoring should be used to determine whether it is necessary to enter the abnormal positioning process. Specifically, the first distance deviation, the second distance deviation, and the third distance deviation are calculated respectively; The first distance deviation is the absolute value of the difference between the distance from the first positioning source plane coordinate result to the drill bit plane initial solution result and the first fixed plane distance result; The second distance deviation is the absolute value of the difference between the distance from the second positioning source plane coordinate result to the drill bit plane initial solution result and the distance result of the second fixed plane; The third distance deviation is the absolute value of the difference between the distance from the third positioning source plane coordinate result to the drill bit plane initial solution result and the distance result of the third fixed plane; The geometric closure monitoring result is obtained by summing the squares of the three distance deviations, taking the average, and then taking the square root. The smaller the geometric closure monitoring result, the more stable the fixed geometric relationship between the three positioning sources and the drill bit; the larger the geometric closure monitoring result, the more likely there is an anomaly in the current three-source positioning relationship. It should be noted that the current closure threshold result is the threshold result obtained in step S1 or step S4. When the geometric closure monitoring result is less than or equal to the current closure threshold result, a normal closure result is generated, and the first, second, and third positioning sources are all determined as valid positioning source pre-selection results. At this time, the shielding recovery evaluation process is not initiated. When the geometric closure monitoring result is greater than the current closure threshold result, a closure anomaly result is generated, indicating that the current three-source geometric relationship does not meet the normal closure requirements. Only then is the suspected anomaly location source location process initiated. Furthermore, after the occurrence of the closure anomaly result, the shielding recovery evaluation process is used to locate the suspected anomaly location source. The shielding recovery evaluation process includes the first shielding evaluation, the second shielding evaluation, and the third shielding evaluation. The first shielding evaluation refers to temporarily shielding the first positioning source and generating the first shielding candidate drill bit coordinate results using only the second and third positioning sources and the previous steady-state drill bit plane coordinate results. The second shielding evaluation refers to temporarily shielding the second positioning source and generating the second shielding candidate drill bit coordinate results using only the first positioning source, the third positioning source, and the previous steady-state drill bit plane coordinate results. The third shielding evaluation refers to temporarily shielding the third positioning source and generating the third shielding candidate drill bit coordinate results using only the first positioning source, the second positioning source, and the previous steady-state drill bit plane coordinate results. For example, in the first shielding evaluation, a second distance circle is formed using the second location source plane coordinate result and the second fixed plane distance result, and a third distance circle is formed using the third location source plane coordinate result and the third fixed plane distance result; When the second distance circle and the third distance circle have two intersection points, two initial candidate coordinates are obtained respectively, and the initial candidate coordinates that are closer to the previous steady-state drill bit plane coordinate result are selected as the first shielding candidate drill bit coordinate result; When two distance circles intersect at only one point, that intersection point is taken as the coordinate result of the first candidate shielded drill bit. When two distance circles do not intersect but the distance between the circles is less than the allowable error band corresponding to the current closure threshold result, select the point on the line connecting the centers of the two circles that minimizes the sum of the two distance deviations as the first shielding candidate drill bit coordinate result. When two distance circles do not intersect and the distance between the circles exceeds the allowable error zone, the first shielding evaluation generates an unrecoverable result. The second and third shielding evaluations use the same logic; It should be noted that a shielding recovery evaluation result is generated for each shielding evaluation. The shielding recovery evaluation result includes the residual source constraint recovery result and the coordinate continuity recovery result. The residual source constraint recovery result is the sum of the distance deviations of the two retained positioning sources relative to the coordinate results of the shielding candidate drill bit. The coordinate continuity recovery result is the distance change between the coordinate results of the shielding candidate drill bit and the coordinate results of the previous steady-state drill bit plane. If the remaining source constraint recovery result of a certain shielding evaluation is less than the geometric closure monitoring result before shielding, and the coordinate continuous recovery result does not exceed the maximum allowable drill bit displacement result of the drilling rig at adjacent sampling times, then the shielding evaluation is determined to meet the recovery conditions. If either of the above two conditions is not met, the shielding evaluation is deemed not to meet the recovery conditions. Furthermore, the maximum permissible drill bit displacement is determined based on the current operating mode of the drilling rig; For example, when the drilling rig is in the borehole tracing state, the maximum allowable drill bit displacement result can be calculated based on the drilling rig's maximum low-speed travel speed and sampling interval; When the drilling rig is in the hole fine-tuning state, the maximum allowable drill bit displacement result can be calculated based on the hole fine-tuning speed and sampling interval; When the drilling rig is in a static alignment state, the maximum allowable drill bit displacement result can be set as the upper limit of static coordinate fluctuation determined during the installation and calibration stage; The maximum permissible drill bit displacement result is used to prevent the generation of erroneous candidate coordinates that are discontinuous with the previous steady-state drill bit plane coordinate result after a certain positioning source is blocked; It should be noted that the logic for generating suspected anomaly location results is as follows: Determine whether the recovery conditions are met for the first shielding evaluation, the second shielding evaluation, and the third shielding evaluation, respectively. The recovery conditions include: the recovery result of the remaining source constraints of the shielding evaluation is less than the geometric closure monitoring result before shielding, and the continuous recovery result of the coordinates of the shielding evaluation does not exceed the maximum allowable drill bit displacement result; The remaining source constraint recovery result is used to determine whether the fixed plane distance constraint between the two remaining positioning sources and the drill bit is recovered after excluding the shielded positioning source. The coordinate continuity recovery result is used to determine whether the coordinate result of the shielded candidate drill bit still conforms to the motion continuity of the drilling rig at adjacent sampling times. When only one shielding evaluation meets the recovery conditions, the shielding evaluation is determined as the unique optimal shielding evaluation, and the location source shielded in the shielding evaluation is determined as a suspected abnormal location source result. When two or three shielding evaluations meet the recovery conditions, the shielding evaluation with the smallest remaining source constraint recovery result is selected first. If the remaining source constraint recovery results are the same or the differences are insufficient to distinguish a unique shielding evaluation, then the shielding evaluation with the smaller coordinate continuous recovery result is selected. If a unique shielding evaluation still cannot be determined, a multi-source uncertain anomaly result will be generated, and a single suspected anomaly location result will not be directly determined. When none of the three shielding evaluations meet the recovery conditions, a closed anomaly unrecovered result is generated; Furthermore, the results of normal closure, the results of suspected abnormal source localization, the results of multi-source uncertain abnormality, and the results of unrecovered closure abnormality correspond to different subsequent processing logics; Under normal closure conditions, all three positioning sources participate in step S3 as valid positioning sources. If the result is a suspected abnormal location source, the suspected abnormal location source will be excluded from the set of valid location sources, and the remaining location sources will participate in step S3. In the case of multi-source uncertain anomalies, a single location source is not excluded. Instead, the current drill bit coordinates are marked as pending confirmation, and conservative predicted coordinates are used in step S3. If the closure anomaly is not recovered, the initial solution result of the current drill bit plane is not adopted, the hole alignment is not confirmed, and the positioning source plane coordinate result is obtained again at the next sampling moment; This step generates geometric closure monitoring results based on the initial solution results of the drill bit plane, the coordinate results of the three positioning sources, and the distance results of the three fixed planes. Then, it judges whether the current geometric relationship of the three sources is abnormal based on the current closure threshold results. When the closure is abnormal, it further determines the suspected abnormal positioning source results through the first shielding evaluation, the second shielding evaluation, and the third shielding evaluation, and generates the closure normal result, the suspected abnormal positioning source result, the multi-source uncertain abnormal result, or the closure abnormality unrecovered result, respectively. This step first judges whether it is necessary to enter the abnormal positioning process through overall geometric closure monitoring. Only when an abnormality occurs will the shielding recovery evaluation be performed specifically to avoid a single abnormal positioning source from continuing to participate in the subsequent drill bit coordinate solution. This step inherits the initial solution results of the drill bit plane and the fixed geometric relationship formed in step S1, and outputs the closure state result, the suspected abnormal positioning source result, and the effective positioning source pre-selection result to step S3, providing a judgment basis for the subsequent construction of the effective positioning source set and the drill bit plane coordinate reconstruction.

[0019] In step S3, a set of valid location sources is generated based on the closed-state results and the results of suspected abnormal location sources. A predicted drill bit coordinate result is generated based on the previous steady-state drill bit plane coordinate result and the adjacent sampled displacement results of the three location sources. A candidate coordinate set is formed based on the set of valid location sources, and the candidate coordinate with the smallest distance from the predicted drill bit coordinate result is selected as the current drill bit plane coordinate result. Specific details include: Generate a set of valid location sources based on the closure status results and suspected abnormal location source results; Based on the previous steady-state drill bit plane coordinate results and the displacement results of the three positioning sources at adjacent sampling times, the drill bit predicted coordinate results are generated; Based on the results of the effective location source set and the corresponding fixed plane distance results, a candidate coordinate set is constructed. Select the candidate coordinates that are closest to the drill bit's predicted coordinates from the candidate coordinate set results, and use them as the current drill bit's plane coordinates. It should be noted that the effective location source set result is used to limit the range of location sources participating in the drill bit plane coordinate reconstruction at the current sampling time; If step S2 generates a normal closure result, the effective location source set result includes the first location source, the second location source, and the third location source; If step S2 generates a result indicating that a certain location source is a suspected abnormal location source, then the result of the effective location source set excludes the suspected abnormal location source and retains only the other two location sources. If step S2 generates multi-source uncertain anomaly results or closed anomaly unrecovered results, then a valid set of positioning sources for geometric intersection will not be generated. Instead, conservative prediction processing will be initiated to avoid introducing unreliable positioning source results into the current drill bit plane coordinate results. Furthermore, the drill bit predicted coordinates are used to reflect the expected continuity of the drill bit position at the current sampling time; When generating the drill bit prediction coordinate results, the displacement results of the first positioning source, the displacement results of the second positioning source, and the displacement results of the third positioning source are calculated respectively. The displacement result of the first positioning source is the difference between the first positioning source plane coordinate result at the current sampling time and the first positioning source plane coordinate result at the previous sampling time. The displacement results of the second and third positioning sources are obtained in the same way; The median value of the lateral component of the displacement results of the three positioning sources is taken, and the median value of the longitudinal component of the displacement results of the three positioning sources is taken to form the common displacement result of the positioning sources. The common displacement results of the positioning source are superimposed on the previous steady-state drill bit plane coordinate results to obtain the drill bit predicted coordinate results; It should be noted that the intermediate value is used to generate the common displacement result of the positioning sources, rather than the average value of the displacement results of the three positioning sources; For example, when the first positioning source suddenly jumps at a sampling moment due to multipath interference, while the second and third positioning sources change steadily, the median value of the displacement results of the three positioning sources will be close to the actual common displacement of the second and third positioning sources, so the drill bit prediction coordinate results can remain continuous. Furthermore, the construction of the candidate coordinate set results is performed according to different cases of the effective location source set results; If the effective set of positioning sources includes three positioning sources, then three distance constraints are constructed with the planar coordinates of the three positioning sources as the center and the corresponding fixed plane distance as the radius. A local search area is established centered on the initial solution result of the drill bit plane or the predicted coordinate result of the drill bit. Multiple candidate coordinates are generated within the local search area, and the distance deviation between each candidate coordinate and the coordinate result of the three positioning source planes is calculated. Candidate coordinates whose three distance deviations are all less than or equal to the current closure threshold are retained to form a set of candidate coordinates. For example, when the effective location source set includes three location sources, a local search area can be established with the initial solution result of the drill bit plane or the predicted coordinate result of the drill bit as the center. Multiple candidate coordinates are generated within the local search area according to a preset spatial interval. The distance deviation of each candidate coordinate relative to the three location sources is calculated. Candidate coordinates with three distance deviations less than or equal to the current closure threshold result are retained to form a candidate coordinate set result. It should be noted that the range of the local search area can be determined based on the previous steady-state drill bit plane coordinates, the maximum allowable drill bit displacement, and the current closure threshold, in order to prevent the search range from being too large and causing excessive computation. Furthermore, if the effective set of positioning sources includes only two positioning sources, then two distance constraints are constructed with the two positioning source planar coordinate results as the center and the corresponding fixed plane distance results as the radius; When two distance constraints have two intersection points, both intersection points are used as candidate coordinates; When two distance constraints are tangent, the tangent point is used as the candidate coordinates; When two distance constraints do not intersect but the interval between them does not exceed the allowable error range corresponding to the current closure threshold result, select the coordinate that minimizes the sum of the two distance deviations in the direction of the line connecting the two positioning source plane coordinate results as the nearest intersection point, and use this nearest intersection point as the candidate coordinate. When there are multiple candidate coordinates in the candidate coordinate set, calculate the distance between each candidate coordinate and the drill bit predicted coordinate result, and select the candidate coordinate with the smallest distance as the current drill bit plane coordinate result, and mark the coordinate as a steady state result using state labeling; When there are no candidate coordinates that meet the current closure threshold result constraints, the drill bit predicted coordinates are used as temporary drill bit plane coordinates, and the coordinates are marked as pending confirmation. It should be noted that when two positioning sources form two intersection points, one of the intersection points cannot be arbitrarily selected; Of the two intersection points, one intersection point may be located within the reach of the drilling rig structure, while the other intersection point may be located on the other side of the drilling rig structure or at a position that is discontinuous with the previous steady-state drill bit plane coordinate result; Constrained projection is performed using the drill bit predicted coordinate results, that is, the candidate coordinates with the smallest distance from the drill bit predicted coordinate results are selected from the candidate coordinate set results as the current drill bit plane coordinate results. Furthermore, when step S2 generates multi-source uncertain anomaly results or closed anomaly unrecovered results, step S3 does not construct candidate coordinate set results based on the current positioning source, but uses the drill bit predicted coordinate results as temporary drill bit plane coordinate results, and marks the coordinates as pending confirmation. In the pending confirmation state, navigation reference directions can continue to be generated, but hole alignment completion results must not be generated. Only after obtaining a normal closure result or a unique suspected abnormal positioning source result at a subsequent sampling time, and generating a steady-state current drill bit plane coordinate result accordingly, is it allowed to perform hole alignment completion judgment. It should be noted that after the current drill bit plane coordinate result is generated, the hole alignment distance result is generated based on the current drill bit plane coordinate result and the current target hole position result. The hole alignment distance result is the plane distance between the current drill bit plane coordinate result and the target hole position design plane coordinate result. When the hole alignment distance result is less than or equal to the hole alignment threshold result, and the coordinates of the current drill bit plane coordinate result are in steady state, the hole alignment completion result is generated. When the hole alignment distance result is less than or equal to the hole alignment threshold result, but the coordinate status of the current drill bit plane coordinate result is in the pending confirmation state, a hole alignment pending confirmation result is generated. When the hole alignment distance result is greater than the hole alignment threshold result, a continue navigation result is generated; For example, the hole alignment threshold result can be determined by the blasting hole network design requirements, the drilling rig's hole control accuracy, or the mining operation procedures. The hole alignment judgment adopts two conditions: the first condition is that the hole alignment distance result does not exceed the hole alignment threshold result; the second condition is that the current drill bit plane coordinate result must be a steady state result. Only when both conditions are met simultaneously will the hole alignment result be generated. If the distance condition is met but the coordinates are still pending confirmation, the drilling confirmation process is not allowed. This step generates a set of valid positioning sources based on the closure state results and suspected abnormal positioning source results. It then combines the previous steady-state drill bit plane coordinate results with the displacement results of the three positioning sources at adjacent sampling times to generate the drill bit predicted coordinate results. Subsequently, a set of candidate coordinates is constructed based on the set of valid positioning sources and the fixed plane distance results. The candidate coordinate with the smallest distance from the drill bit predicted coordinate results is selected as the current drill bit plane coordinate result. This step excludes or downgrades abnormal positioning sources to a pending confirmation state. The geometric constraints of the valid positioning sources and the continuity of drill bit motion are then used to jointly determine the drill bit plane coordinates, avoiding the use of simple averaging or direct least squares which would cause abnormal observations to be distributed to the final coordinates. This step further generates hole alignment distance results and hole alignment state results, so that the current drill bit plane coordinate results can not only be used for autonomous navigation direction generation, but also for determining whether the hole alignment conditions are met. This step follows the abnormal identification results of step S2, completes the stable reconstruction of the drill bit plane coordinates, and passes the current drill bit plane coordinate results and hole alignment state results to step S4 for subsequent hole alignment deviation calculation and closure threshold iteration.

[0020] In step S4, the current hole position alignment deviation result is generated based on the current drill bit plane coordinate result and the current target hole position result. Then, the next hole position closure threshold result is updated based on the current hole position alignment deviation result, the allowable alignment deviation result, and the suspected abnormal positioning source result. Specifically, this includes: After generating the hole alignment completion result, obtain the current drill bit plane coordinate result, the current target hole position result, the geometric closure monitoring result, the closure status result, the suspected abnormal positioning source result, the effective positioning source set result, and the current closure threshold result; Generate the current hole position alignment deviation result based on the current drill bit plane coordinate result and the current target hole position result; Based on the current hole alignment deviation and the allowable alignment deviation, the next hole closure threshold is iteratively corrected, and a location source anomaly record is generated. It should be noted that the current hole alignment deviation result is the planar distance between the current drill bit plane coordinate result and the target hole design plane coordinate result, and this result is consistent with the source of the hole alignment distance result in step S3; The allowable alignment deviation result is the range of hole position deviations allowed by the current penetration zone or the current blasting hole network design; If the alignment deviation of the current hole position is greater than the allowable alignment deviation, it means that although the alignment judgment of this hole position has been completed, the alignment quality is insufficient, and the sensitivity of geometric closure anomaly monitoring should be improved for the next hole position. If the current hole alignment deviation is less than or equal to the allowable alignment deviation, it means that the alignment quality of this hole meets the requirements. The next hole can maintain the current closure threshold result or be appropriately relaxed to reduce unnecessary abnormal triggering. Furthermore, the iterative logic for the next pore closure threshold result is as follows: When the current hole alignment deviation is greater than the allowable alignment deviation, the current closure threshold is reduced by a threshold correction amount to obtain the next hole closure threshold. When the current hole alignment deviation result is less than or equal to the allowable alignment deviation result, and no suspected abnormal positioning source result appears in this hole position, maintain the current closure threshold result or appropriately increase it according to the preset relaxation amount; If the current hole alignment deviation is less than or equal to the allowable alignment deviation, but a suspected abnormal positioning source has appeared in this hole, the current closure threshold result is maintained and not relaxed. It should be noted that the threshold correction amount can be determined based on the difference between the current hole alignment deviation result and the allowable alignment deviation result; For example, when the current hole alignment deviation result is greater than the allowable alignment deviation result, the difference between the two is used as the threshold correction amount, or the difference is converted into the threshold correction amount according to the correction ratio preset in the installation calibration stage, and the current closure threshold result is reduced under the limitation of the lower limit result of the closure threshold. The preset relaxation amount is determined based on the difference between the allowable alignment deviation result and the current hole alignment deviation result, and increases the current closure threshold result under the constraint of the upper limit result of the closure threshold; If a suspected abnormal location source has appeared in this hole position, even if the current hole position alignment deviation does not exceed the allowable alignment deviation, the relaxation operation will not be performed to avoid prematurely reducing the sensitivity of closure anomaly monitoring when the abnormal location source has just recovered. Set the lower limit and upper limit of the closure threshold. The closure threshold result for the next hole position must not be less than the lower limit of the closure threshold result, nor greater than the upper limit of the closure threshold result. The lower limit of the closure threshold is used to prevent normal positioning noise from frequently triggering anomalies. The upper limit of the closing threshold is used to prevent real-time location anomalies from not being triggered in a timely manner; Furthermore, the lower limit and upper limit of the closure threshold can be determined during the installation and calibration phase; For example, the lower limit of the closure threshold can be determined based on the upper limit of the stable fluctuation of the geometric closure monitoring results under static conditions; The upper limit of the closure threshold can be determined based on the maximum acceptable geometric deviation of the positioning source under low-speed hole-finding conditions; It should be noted that the lower limit result and the upper limit result of the closure threshold are both threshold boundary results, used to limit the iteration range of step S4, and do not directly replace the current closure threshold result in step S2; It should be noted that after the closure threshold result of the next well is generated, it will be used as the current closure threshold result when step S2 is executed at the next well. The current hole alignment deviation result is used to adjust the anomaly monitoring sensitivity of the next hole position. The current hole alignment deviation result is then converted into the closure threshold result of the next hole position, so that the quality evaluation result enters the next round of positioning algorithm process. Furthermore, the results of the location source anomaly record are generated. The results of the location source anomaly record include the current target hole position result, the current drill bit plane coordinate result, the current hole position alignment deviation result, the geometric closure monitoring result, the closure status result, the suspected abnormal location source result, the effective location source set result, the current closure threshold result, the next hole position closure threshold result, and the coordinate adoption status result. If the same positioning source is identified as a suspected abnormal positioning source in multiple consecutive holes, a positioning source verification prompt result is generated to prompt maintenance personnel to check the installation status, antenna connection status or differential data reception status of the positioning source. It should be noted that the location source verification prompt is only a maintenance prompt and is not a necessary condition for generating the current drill bit plane coordinate result; Even if the same suspected abnormal location source appears repeatedly, the geometric closure anomaly monitoring and effective location source constraint projection are still performed at each sampling time according to the logic of steps S2 and S3, and a certain location source is not directly and permanently excluded because of historical prompts. Furthermore, step S4 also includes the update rules for the previous steady-state drill bit plane coordinate results; When the current drill bit plane coordinate result adopts the steady state result, and the hole alignment completion result is generated in step S3, the current drill bit plane coordinate result is updated to the new previous steady state drill bit plane coordinate result; When the current drill bit plane coordinate result is in a state of pending confirmation, or when step S3 generates a hole alignment pending confirmation result, the previous steady-state drill bit plane coordinate result is not updated. This rule is used to ensure that when generating the drill bit predicted coordinates at the next sampling time, the previous steady-state drill bit plane coordinates used are derived from confirmed reliable coordinates, rather than from abnormal or unconfirmed coordinates. It should be noted that the iteration of step S4 is a single iteration, that is, after each hole position is completed, the closure threshold result of the next hole position is updated only once based on the current hole position alignment deviation result of that hole position, and the closure threshold is not adjusted repeatedly in the same hole position. This design can avoid frequent fluctuations in the threshold at the same hole position, ensuring the stability of the closure anomaly judgment in step S2. If a new hole alignment deviation occurs during the execution of the next hole, step S4 is executed again after the next hole is completed, forming a lightweight closed loop of hole-position advancement. After generating the hole alignment completion result, this step generates the current hole alignment deviation result based on the current drill bit plane coordinate result and the current target hole position result. It then combines the allowable alignment deviation result, the current closure threshold result, the lower limit of the closure threshold result, and the upper limit of the closure threshold result to perform a single-iteration correction on the closure threshold result for the next hole position. Simultaneously, it records the geometric closure monitoring result, closure status result, suspected abnormal positioning source result, effective positioning source set result, and coordinate adoption status result. Based on the steady-state status of the current drill bit plane coordinate result, it updates the previous steady-state drill bit plane coordinate result. This step feeds back the actual alignment quality of the current hole position to the abnormal monitoring threshold of the next hole position, ensuring that the positioning quality evaluation is not only used for post-event statistics but also participates in the next round of three-source positioning anomaly identification process. This reduces the risk of similar positioning deviations recurring in consecutive holes. This step inherits the current drill bit plane coordinate result and hole alignment status result output from step S3 and feeds back the next hole closure threshold result and the new previous steady-state drill bit plane coordinate result to steps S1 and S2 of subsequent holes, forming an autonomous navigation and positioning closed loop that advances according to hole position.

[0021] The above formulas are all dimensionless calculations. The formulas are derived from software simulations based on a large amount of collected data to obtain the most recent real-world results. The preset parameters in the formulas are set by those skilled in the art according to the actual situation.

[0022] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product.

[0023] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and inventive constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0024] In addition, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0025] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0026] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An open-air drilling rig autonomous navigation positioning method based on multi-source sensor fusion, characterized in that, comprising steps; Step S1, obtaining the current target hole position result, three positioning source plane coordinate results, corresponding fixed plane distance results, three positioning source plane coordinate results at the last sampling time, the last stable drill bit plane coordinate result, and the current closure threshold result, to generate a drill bit plane initial solution result; Step S2, generating a geometric closure monitoring result according to the deviation of the distance from each positioning source to the drill bit plane initial solution result and the corresponding fixed plane distance result, comparing it with the current closure threshold result to generate a closure state result, and when there is a closure anomaly, generating a shielding candidate drill bit coordinate result by shielding the positioning sources one by one, and determining a suspected abnormal positioning source result according to the shielding recovery evaluation result; Step S3, generating an effective positioning source set result according to the closure state result and the suspected abnormal positioning source result, generating a drill bit predicted coordinate result according to the last stable drill bit plane coordinate result and the adjacent sampling displacement results of the three positioning sources, forming a candidate coordinate set result based on the effective positioning source set result, and selecting the candidate coordinate with the smallest distance from the drill bit predicted coordinate result as the current drill bit plane coordinate result; Step S4, generating a current hole alignment deviation result according to the current drill bit plane coordinate result and the current target hole position result, and updating the next hole closure threshold result based on the current hole alignment deviation result, the allowed alignment deviation result, and the suspected abnormal positioning source result.

2. The open pit drill rig autonomous navigation and positioning method based on multi-source sensor fusion according to claim 1, characterized in that, Generating the drill bit plane initial solution result includes: constructing three plane distance constraints with the first positioning source plane coordinate result as the first circle center, the first fixed plane distance result as the first radius, the second positioning source plane coordinate result as the second circle center, the second fixed plane distance result as the second radius, the third positioning source plane coordinate result as the third circle center, and the third fixed plane distance result as the third radius, and obtaining the drill bit plane initial solution result by minimizing the three distance deviations; The distance deviation is the difference between the actual distance from a certain positioning source plane coordinate result to the candidate drill bit coordinate and the corresponding fixed plane distance result.

3. The open pit drill rig autonomous navigation and positioning method based on multi-source sensor fusion according to claim 2, characterized in that, The initial result of the current closure threshold is obtained by continuously collecting the three positioning source plane coordinate results at multiple sampling times when the drilling rig is in a stationary state or low-speed straight running state during the installation and calibration stage of the drilling rig, generating a drill bit plane initial solution result for each sampling time, and calculating the geometric deviation of the three positioning sources relative to the drill bit plane initial solution result, and then statistically obtaining the geometric deviation at multiple sampling times.

4. The open-air rig autonomous navigation positioning method based on multi-source sensor fusion according to claim 2, characterized in that, If the current drilling rig has just started operation and there is no last stable drill bit plane coordinate result, an initial drill bit plane coordinate result is generated according to the three positioning source plane coordinate results and the three fixed plane distance results, and when the initial geometric closure monitoring meets the initial closure threshold requirement, the initial drill bit plane coordinate result is taken as the last stable drill bit plane coordinate result; If the initial geometric closure monitoring does not meet the requirement, the three positioning source plane coordinate results are prompted to be reacquired.

5. The open pit drill rig autonomous navigation and positioning method based on multi-source sensor fusion according to claim 1, characterized in that, The geometric closure monitoring result is generated by the following method: The first distance deviation, the second distance deviation and the third distance deviation are calculated respectively, wherein the first distance deviation is the absolute value of the difference between the distance from the first positioning source plane coordinate result to the bit plane initial solution result and the first fixed plane distance result, and the second distance deviation and the third distance deviation are obtained in the same way; The three distance deviations are squared and summed, and then averaged and squared to obtain the geometric closure monitoring result; The geometric closure monitoring result is compared with the current closure threshold result; When the geometric closure monitoring result is less than or equal to the current closure threshold result, a closure normal result is generated, and when the geometric closure monitoring result is greater than the current closure threshold result, a closure abnormal result is generated.

6. The open-pit drill rig autonomous navigation positioning method based on multi-source sensor fusion according to claim 1, characterized in that, The shielding recovery evaluation process includes a first shielding evaluation, a second shielding evaluation and a third shielding evaluation; The first shielding evaluation refers to temporarily shielding the first positioning source, and generating a first shielding candidate bit coordinate result by using the second positioning source, the third positioning source and the last stable bit plane coordinate result; The second shielding evaluation refers to temporarily shielding the second positioning source, and generating a second shielding candidate bit coordinate result by using the first positioning source, the third positioning source and the last stable bit plane coordinate result; The third shielding evaluation refers to temporarily shielding the third positioning source, and generating a third shielding candidate bit coordinate result by using the first positioning source, the second positioning source and the last stable bit plane coordinate result; In each shielding evaluation, the sum of the distance deviations of the shielding candidate bit coordinate result with respect to the two positioning sources that are not shielded is taken as the residual source constraint recovery result, and the distance between the shielding candidate bit coordinate result and the last stable bit plane coordinate result is taken as the coordinate continuous recovery result; When the residual source constraint recovery result of a certain shielding evaluation is less than the geometric closure monitoring result before shielding, and the coordinate continuous recovery result thereof is not greater than the maximum allowed bit displacement result, it is determined that the shielding evaluation meets the recovery condition; In the shielding evaluation that meets the recovery condition, if only one shielding evaluation meets the recovery condition, or the residual source constraint recovery result of a certain shielding evaluation is the smallest and the coordinate continuous recovery result thereof is not greater than the coordinate continuous recovery results of other shielding evaluations that meet the recovery condition, the shielding evaluation is determined as the unique optimal shielding evaluation, and the shielded positioning source in the shielding evaluation is determined as the suspected abnormal positioning source result; If two or three shielding evaluations meet the recovery condition and the unique optimal shielding evaluation cannot be determined, a multi-source uncertain abnormal result is generated; if three shielding evaluations do not meet the recovery condition, a closure abnormality unrecovered result is generated.

7. The open-air rig autonomous navigation positioning method based on multi-source sensor fusion according to claim 1, characterized in that, The generation mode of the bit predicted coordinate result is as follows: The first positioning source displacement result, the second positioning source displacement result and the third positioning source displacement result are calculated respectively, and each positioning source displacement result is the difference between the positioning source plane coordinate result at the current sampling time and the corresponding positioning source plane coordinate result at the last sampling time; The horizontal components of the three positioning source displacement results are taken as the intermediate values, and the vertical components of the three positioning source displacement results are taken as the intermediate values to form a common positioning source displacement result; The common positioning source displacement result is superimposed on the last stable bit plane coordinate result to obtain the bit predicted coordinate result.

8. The open-air rig autonomous navigation positioning method based on multi-source sensor fusion according to claim 7, characterized in that, When the effective positioning source set result includes three positioning sources, the distance deviation amounts between the distances of the candidate coordinates to the three positioning source plane coordinate results and the corresponding fixed plane distance results are calculated respectively, and the candidate coordinates whose three distance deviation amounts are all less than or equal to the current closing threshold result form the candidate coordinate set result; When the effective positioning source set result includes only two positioning sources, if the two distance constraints corresponding to the two positioning sources have an intersection point, the intersection point is taken as the candidate coordinate; if the two distance constraints do not have an intersection point but the interval between the two distance constraints does not exceed the allowed error range corresponding to the current closing threshold result, a coordinate that minimizes the sum of the two distance deviation amounts is selected in the direction of the line connecting the two positioning source plane coordinate results, and the near intersection point is taken as the candidate coordinate; When there is no candidate coordinate that meets the current closing threshold result constraint, the bit prediction coordinate result is taken as the temporary bit plane coordinate result, and the coordinate adoption state is marked as the to-be-confirmed state; When there is one or more candidate coordinates in the candidate coordinate set result, the candidate coordinate with the minimum distance to the bit prediction coordinate result is selected from the candidate coordinate set result as the current bit plane coordinate result, and the coordinate adoption state is marked as the steady-state result.

9. The open-air rig autonomous navigation positioning method based on multi-source sensor fusion according to claim 1, characterized in that, The update logic of the next hole position closing threshold result is as follows: When the current hole position alignment deviation result is greater than the allowed alignment deviation result, a threshold correction amount is determined according to the difference between the current hole position alignment deviation result and the allowed alignment deviation result, and the current closing threshold result is reduced by the threshold correction amount to obtain the next hole position closing threshold result; When the current hole position alignment deviation result is less than or equal to the allowed alignment deviation result, and no suspected abnormal positioning source result occurs in the current hole position, the current closing threshold result is maintained, or a preset relaxation amount is determined according to the difference between the allowed alignment deviation result and the current hole position alignment deviation result, and the current closing threshold result is increased by the preset relaxation amount to obtain the next hole position closing threshold result; When the current hole position alignment deviation result is less than or equal to the allowed alignment deviation result, but a suspected abnormal positioning source result occurs in the current hole position, the current closing threshold result is maintained as the next hole position closing threshold result, and no relaxation is performed.

10. The open-air rig autonomous navigation positioning method based on multi-source sensor fusion according to claim 9, characterized in that, The closing threshold lower limit result and the closing threshold upper limit result are set; If the next hole position closing threshold result is less than the closing threshold lower limit result, the closing threshold lower limit result is taken as the next hole position closing threshold result; If the next hole position closing threshold result is greater than the closing threshold upper limit result, the closing threshold upper limit result is taken as the next hole position closing threshold result; The positioning source abnormal record result is generated, and if the same positioning source is determined as a suspected abnormal positioning source result in a plurality of consecutive hole positions, the positioning source review prompt result is generated; The rule for updating the last steady-state bit plane coordinate result is as follows: When the coordinate adoption state of the current bit plane coordinate result is the steady-state result, and the hole position alignment completion result is generated, the current bit plane coordinate result is updated as the new last steady-state bit plane coordinate result; When the coordinate adoption state of the current bit plane coordinate result is the to-be-confirmed state, or the hole position alignment completion result is not generated, the last steady-state bit plane coordinate result is not updated.

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