Joint correction method of errors of MWD inclinometer in underground coal mine

Authors

QIAO Meiying, School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo 454000, China
WANG Bo, School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo 454000, China
XIAO Xuejun, Fourth Geological Team, Hebei Provincial Bureau of Coal Geology, Zhangjiakou 075100, China
XU Chengkuan, School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo 454000, China
YAN Shuhao, School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo 454000, China

Abstract

In order to reduce the error of measuring the drilling attitude angle parameter of MWD inclinometer in coal mine, a mathematical model of error compensation based on recursive least squares was established, the joint correction method of ellipsoid fitting method, dot product invariance method and rotation plane fitting method were used in the error compensation correction for MWD inclinometer. Numerical simulation experiment and double-axis turntable experiment were carried out on the developed MWD inclinometer, error compensation correction of experimental data was conducted with joint correction method, the maximum absolute errors of pitch angle and azimuth angle before correction are 4.7° and 5.1°, after correction are 0.8° and 0.9°, the corrected measurement accuracy meets the requirements of MWD inclinometer. Experimental results show that this method can be used to effectively compensate the error correction of MWD inclinometer in underground coal mine.

Keywords

MWD inclinometer in underground coal mine, joint correction, the error compensation correction, pitch angle, azimuth angle

DOI

10.3969/j.issn.1001-1986.2020.02.030

Recommended Citation

QIAO Meiying, WANG Bo, XIAO Xuejun, et al. (2020) "Joint correction method of errors of MWD inclinometer in underground coal mine," Coal Geology & Exploration: Vol. 48: Iss. 2, Article 31.
DOI: 10.3969/j.issn.1001-1986.2020.02.030
Available at: https://cge.researchcommons.org/journal/vol48/iss2/31

Reference

[1]GIZAWY E L. Wellbore surveying while drilling based on Kalman filtering[J]. American Journal of Engineering and Applied Sciences,2010,3(2):240-259.

[2] 郝东,绳涛,陈小前. 三轴磁强计测量误差修正方法[J]. 航天器环境工程,2011,28(5):463-466. HAO Dong,SHENG Tao,CHEN Xiaoqian. The error correction of three-axis magnetometer measurement[J]. Spacecraft Environment Engineering,2011,28(5):463-466.

[3] 代刚. MEMS-IMU误差分析补偿与实验研究[D]. 北京:清华大学,2011. DAI Gang. MEMS-IMU error analysis compensation method and experiment research[D]. Beijing:Tsinghua University,2011.

[4] 郭卫,杨鹏飞,张武刚,等. 基于BP神经网络模型的MEMS加速度计误差补偿方法[J]. 中国测试,2018,44(3):109-113. GUO Wei,YANG Pengfei,ZHANG Wugang,et al. Error compensation method for MEMS accelerometer based on BP neural network model[J]. China Measurement & Test,2018,44(3):109-113.

[5] 晁正正,张晓明,马喜宏,等. 一种新的电子罗盘校准算法研究[J]. 传感技术学报,2019,32(1):106-110. CHAO Zhengzheng,ZHANG Xiaoming,MA Xihong,et al. Research on a new electronic compass calibration algorithm[J]. Chinese Journal of Sensors and Actuators,2019,32(1):106-110.

[6] 宋忠国,郑家欢,张金生,等. 基于粒子群优化的三轴磁强计非线性误差校正[J]. 传感器与微系统,2017,36(12):40-42. SONG Zhongguo,ZHENG Jiahuan,ZHANG Jinsheng,et al. Nonlinear error calibration of three-axis magnetometer based on PSO algorithm[J]. Transducer and Microsystem Technologies,2017,36(12):40-42.

[7] 陆欣,刘忠,张宏欣,等. 三轴MEMS加速度计的最大似然校正算法[J]. 国防科技大学学报,2017,39(5):185-191. LU Xin,LIU Zhong,ZHANG Hongxin,et al. Maximum likelihood calibration for MEMS triaxial accelerometer[J]. Journal of National University of Defense Technology,2017,39(5):185-191.

[8] 龙礼,张合. 三轴地磁传感器误差的自适应校正方法[J]. 仪器仪表学报,2013,34(1):161-165. LONG Li,ZHANG He. Automatic and adaptive calibration method of tri-axial magnetometer[J]. Chinese Journal of Scientific Instrument,2013,34(1):161-165.

[9] 江泽宇,谢洪波,文广超,等. 煤矿井下电磁波无线随钻轨迹测量系统设计与应用[J]. 煤田地质与勘探,2017,45(3):156-161. JIANG Zeyu,XIE Hongbo,WEN Guangchao,et al. Design and application of electromagnetic radio MWD system of drilling track in coal mine[J]. Coal Geology & Exploration,2017,45(3):156-161.

[10] 王成立,CHIKHOTKIN V F,卢春华. 随钻测斜仪误差补偿实验研究[J]. 煤田地质与勘探,2016,44(4):147-152. WANG Chengli,CHIKHOTKIN V F,LU Chunhua. Error compensation of measurement while drilling inclinometer[J]. Coal Geology & Exploration,2016,44(4):147-152.

[11] 邓志红. 惯性器件与惯性导航系统[M]. 北京:科学出版社,2012. DENG Zhihong. Inert components and inert navigation system[M]. Beijing:Science Press,2012.

[12] 刘艳霞,方建军,杨清梅. 基于椭球假设的三轴加速度计误差标定与补偿[J]. 传感器与微系统,2014,33(6):52-54. LIU Yanxia,FANG Jianjun,YANG Qingmei. Three-axis accelerometer error calibration and compensation based on ellipsoid hypothesis[J]. Transducer and Microsystem Technologies,2014,33(6):52-54.

[13] 郭鹏飞,华春红,任章,等. 基于递推最小二乘的航姿系统罗差校正[J]. 中国惯性技术学报,2008,16(1):24-27. GUO Pengfei,HUA Chunhong,REN Zhang,et al. Magneticdeviation compensation using recursive least square for AHRS[J]. Journal of Chinese Inertial Technology,2008,16(1):24-27.

[14] 龙礼,黄家才. 基于递推最小二乘法的地磁测量误差校正方法[J]. 仪器仪表学报,2017,38(6):1440-1446. LONG Li,HUANG Jiacai. Recursive least square based online error calibration method in geomagnetic detection[J]. Chinese Journal of Scientific Instrument,2017,38(6):1440-1446.

[15] 李翔,李智. 航姿参考系统三轴磁强计校正的点积不变法[J]. 仪器仪表学报,2012,33(8):1813-1818. LI Xiang,LI Zhi. Dot product invariance method for the calibration of three-axis magnetometer in attitude and heading reference system[J]. Chinese Journal of Scientific Instrument,2012,33(8):1813-1818.

[16] 李翔,王勇军,李智. 航姿系统矢量传感器非对准误差及其校正[J]. 传感技术学报,2017,30(2):266-271. LI Xiang,WANG Yongjun,LI Zhi. Inter-triad misalignment of vector field sensors in attitude andheading reference systems and its calibration[J]. Chinese Journal of Sensors and Actuators,2017,30(2):266-271.

[17] 李智,李翔. 基于椭球假设的三轴电子罗盘罗差补偿研究[J]. 仪器仪表学报,2011,32(10):2210-2215. LI Zhi,LI Xiang. Research on magnetic deviation compensation of three-axis electronic compass based on ellipsoid hypothesis[J]. Chinese Journal of Scientific Instrument,2011,32(10):2210-2215.

[18] 梁伟嘉,吝伶艳,刘宗伟. 基于椭球和平面拟合的随钻测量系统校正方法[J]. 煤炭技术,2016,35(9):250-251. LIANG Weijia,LIN Lingyan,LIU Zongwei. Calibration method of measurement while drilling system based on ellipsoid and plane fitting[J]. Coal Technology,2016,35(9):250-251.