New algorithm of attitude measurement while drilling based on gyroscope

SU Yi1; QI Xin1; LIU Yang1; ZHANG Jin-guang2

doi:10.13873/j.1000-97872013.01.005

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New algorithm of attitude measurement while drilling based on gyroscope

更新时间：2025-09-11

- New algorithm of attitude measurement while drilling based on gyroscope
- Vol. 32, Issue 1, Pages: 137-140(2013)
- 作者机构：
  
  1. 北京科技大学机械工程学院
  2. 山西潞安环保能源开发股份有限公司地质处
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872013.01.005
  CLC： TE27+1;TP274
- Published：2013
- 稿件说明：
移动端阅览
[1]苏毅,齐昕,刘阳,张金光.基于陀螺仪的随钻姿态测量新算法[J].传感器与微系统,2013,32(01):137-140.

SU Yi1, QI Xin1, LIU Yang1, et al. New algorithm of attitude measurement while drilling based on gyroscope[J]. 2013, 32(1): 137-140.
[1]苏毅,齐昕,刘阳,张金光.基于陀螺仪的随钻姿态测量新算法[J].传感器与微系统,2013,32(01):137-140. DOI： 10.13873/j.1000-97872013.01.005.

SU Yi1, QI Xin1, LIU Yang1, et al. New algorithm of attitude measurement while drilling based on gyroscope[J]. 2013, 32(1): 137-140. DOI： 10.13873/j.1000-97872013.01.005.

摘要

水平定向钻进中钻具姿态的实时测量是实现导向的关键因素。针对已有算法的不足和缺点

采用陀螺仪进行钻具倾角、方位角和工具面向角的测量

推导出了相应的姿态角计算公式。同时针对测量过程中存在的陀螺仪漂移误差

采用四元数全姿态互补滤波算法

利用加速度计和磁强计对陀螺仪进行补偿

给出了详细的理论分析和计算过程。实验结果表明:基于传感器组合的四元数全姿态互补滤波算法能够有效地消除陀螺仪漂移误差

获得的方位角测量精度优于±0.3°。

Abstract

Real time measurements of drill bit attitude while drilling are the key factors for guiding of horizontal directional drilling.Aiming at shortcomings of existing algorithms

a new method is introduced to measure inclination

azimuth

and tool face angle using gyroscope.Through quaternion-based all attitude complementary filter algorithm

accelerometers and magnetometers are used to compensate for the measurement error due to the drift of the gyroscope output over time.The detailed theoretical analysis and calculation process are presented.The results show that quaternion-based all attitude complementary filter algorithm based on sensor combination can effectively eliminate gyroscope drift error

and obtained azimuth measurement precision is better than ±0.3°.

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references

一种基于磁强计和倾角传感器的钻井测斜仪 [J]. 谢川. 仪器仪表学报 . 2010(10)

水平定向钻进随钻姿态测量及误差补偿 [J]. 王瑞,王伯雄,康健,刘涛. 清华大学学报(自然科学版) . 2010(02)

基于加速度计和磁强计的方位测量与校正技术研究 [J]. 徐涛,温东,孙晓磊. 仪器仪表学报 . 2009(10)

惯性导航[M]. 科学出版社 , 秦永元编著, 2006

Horizontal Directional Drilling: Profile of an Emerging Industry [J] . Erez N. Allouche,Samuel T. Ariaratnam,Jason S. Lueke. Journal of Construction Engineering and Management . 2000 (1)

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Related Institution

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