Drill Pose Estimation via State-Adaptive Sensor Fusion
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Solution Overview
Problem
Conventional drill positioning systems using GNSS and IMU data are inaccurate during drilling operations due to severe vibrations, which affect the reliability of sensor data from inclinometers and gyros.
Innovation Solution
A method and system that incorporates a locating device for location signals, sensors for angular rate and acceleration signals, and a controller using a Kalman filter to determine the drill's pose by considering its operation state, adjusting the weighting of sensor inputs based on the operation state to improve accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional positioning systems use GNSS and IMU data to calculate drill pose, then the system can provide positioning information, but the accuracy deteriorates during drilling operations due to severe vibrations affecting sensor data
Solution Approach 1:
The system dynamically adjusts the weighting factors of different sensor inputs based on the detected drill operation state. During drilling operations with severe vibrations, the system reduces the weighting of IMU sensor data (accelerometer and gyro) and increases the weighting of GNSS data. When not drilling, the system increases IMU weighting for better pose estimation. This dynamic adaptation resolves the contradiction by optimizing sensor fusion weights according to real-time operational conditions.
Solution Approach 2:
The system changes the parameters (weighting factors) of the sensor fusion algorithm based on the drill operation state. By detecting whether the drill is in drilling mode or non-drilling mode, the system adjusts the relative importance of different sensor inputs. This parameter change allows the positioning system to maintain accuracy across varying operational conditions, resolving the contradiction between providing continuous positioning and maintaining accuracy during vibrations.
2Duration of action of moving object
If the system uses sensor data from inclinometers and gyros during drilling, then continuous pose estimation is provided, but the accuracy deteriorates due to severe vibrations
Solution Approach 1:
The system maintains continuous pose estimation by dynamically switching between different sensor fusion configurations. During drilling operations, it continues to provide pose estimates but uses a different weighting combination that relies less on vibration-prone IMU sensors and more on GNSS data. This dynamic adjustment ensures continuous operation while adapting to changing accuracy requirements based on operational state.
Solution Approach 2:
The system uses feedback from drill operation state detection to adjust the sensor fusion process. By continuously monitoring whether the drill is in drilling or non-drilling mode, the system provides real-time feedback to the pose estimation algorithm, allowing it to adjust weighting factors dynamically. This feedback mechanism ensures continuous pose estimation while maintaining accuracy by adapting to vibration conditions.
Data Source
AI summary
A method, system, and non-transitory computer-readable storage medium for estimating pose of a drill are disclosed. The method may include receiving a location signal from a locating device, receiving a first signal indicative of an angular rate of the drill, and receiving a second signal indicative of an acceleration of the drill. The method may further include determining an operation state of the drill. The method may further include determining the pose of the drill based on the received location signal, first signal, second signal, and the determined operation state of the drill.