开孔定向仪中陀螺随机漂移误差处理与分析

Processing and analysis of gyro random drift error in hole-opening directional instrument

采用定向钻进技术进行煤层中的瓦斯抽放是煤矿井下瓦斯治理最有效的方法。钻机开孔定向的精度决定其是否能够按照预定设计的轨迹钻进,是影响瓦斯抽采效果的因素之一。提出了一种新型的基于光纤陀螺和MEMS陀螺相结合的煤矿井下钻机开孔定向仪,系统中光纤陀螺和MEMS陀螺的精度决定钻机开孔定向的精度,减小其随机漂移是提高开孔精度的重要手段之一。提出了随机漂移误差的处理流程,建立了随机漂移误差的模型,在此基础上,通过卡尔曼滤波方式对随机漂移进行滤波处理,并进行Allan方差分析。分析结果表明,经过卡尔曼滤波后,陀螺的误差系数较滤波前明显减小,有效地抑制了噪声,验证了陀螺随机漂移建立模型的正确性。

Use of directional drilling technology for gas drainage in coal seams is the most effective method for gas control in coal mines.The accuracy of the drilling rig′s hole orientation determines whether it can drill according to the pre-designed trajectory,which is one of the factors affecting the gas drainage effect.A new type of drilling rig drilling directional instrument based on the combination of fiber optic gyroscope and MEMS gyroscope was proposed.The precision of the fiber optic gyroscope and MEMS gyroscope in the system determines the drilling rig drilling directional accuracy.Reducing its random drift was to improve the drilling accuracy.One of the important means,processing flow of random drift error was proposed,and the model of random drift error was established.On this basis,the random drift was filtered by Kalman filter,and Allan variance analysis was performed.The analysis results showed that after Kalman filtering,the error coefficient of the gyro was significantly smaller than that before filtering,which effectively suppressed the noise and verifies the correctness of the model established by the random drift of the gyro.