新型矿用钻机开孔定向仪的标定及误差补偿技术

Calibration and error compensation technology of a new drilling rig opening orientator in coal mine

为提高煤矿开孔定向的效率和精度,本文首先综述了煤矿井下开孔定向的常用测量方法,并对这些方法的优缺点和发展趋势进行了总结.在此基础上本文提出了一种基于单轴高精度光纤陀螺寻北系统结合低成本三轴MEMS捷联惯导跟踪系统的新型测量方法.本文介绍了新测量系统的总体结构,重点进行了误差特性分析,确立了确定性误差和随机误差的来源.对于系统确定性误差中的加速度计误差,在常见一次模型的基础上建立了三阶非线性模型,对高阶项进行辨识补偿;同时对确定性误差中的陀螺误差进行建模,对其常值零偏、刻度系数和交叉耦合误差进行辨识补偿.对于系统的随机性误差,对光纤陀螺和MEMS陀螺数据分别进行时间序列分析,基于AIC准则进行模型选择并建立ARMA(2,1)时间序列模型,并采用卡尔曼滤波进行数据处理.设计并进行系统级试验和卡尔曼滤波试验,试验结果表明:所建立的各类误差模型能够有效提高传感器精度和系统级精度,结果满足实际钻孔开孔的需求.

In order to improve the efficiency and accuracy of coal mine opening orientation,this paper firstly summarizes the common measurement methods of underground opening orientation,then the advantages,disadvantages and development trend of these methods are summarized.On this basis,a new measurement method based on single-axis high precision fiber optic gyroscope north-seeking system combined with low-cost three-axis micro-electro-mechanical sensors strapdown inertial navigation tracking system is proposed.This paper introduces the overall structure of the new measurement system,emphatically analyses the error characteristics of the system,and establishes the sources of deterministic error and random error.For the accelerometer error in the system deterministic error,a third-order nonlinear model is established based on the common first-order model and the high order terms are identified and compensated;at the same time,the gyro error in the deterministic error is modeled,and its constant bias,scale coefficient and cross coupling error are identified and compensated.For the random error of the system,the time series analysis of FOG and MEMS gyro data is made,based on AIC criterion,ARMA(2,1)time series model is established,and Kalman filter is used for data processing.The system level test and Kalman filter test are designed and carried out,the test results show that the established error models can effectively improve the sensor accuracy and system level accuracy,and the results meet the needs of actual drilling.