Research On The Correction Method Of Drilling Axle Trace Of Horizontal Drilling Rig In Coal Mine

The downhole coal drilling technology is an important key technology in our country.By installing the measurement unit in the while drilling and collecting sensor information,the measurement and drawing of the axis trace of the directional horizontal drilling rig can be realized.In recent years,the most common application is drilling hydraulic pulse transmission,but most drilling operations still use empirical blind drilling.Due to the harsh and complex geological conditions in many coal mines,the measurement results are inaccurate and the position of the drilling rig cannot be correctly positioned,and the drill pipe is often broken or broken.Serious problems such as inability to recycle.At present,the domestic vigorous development of drilling technology and the gradual advancement in the cutting-edge direction can not only solve the above-mentioned problems,but the development of intelligent drilling technology has also made the construction of drilling projects easier,and the efficiency of project completion has been significantly improved.Therefore,the study of MWD technology in coal mines is of significant significance to the field of coal mining,oil drilling and geological exploration in my country.In this research,a horizontal directional drilling rig is used as the object,using a self-developed measurement while drilling unit,installed in the drilling rig,collecting sensor attitude information,optimizing the attitude information to realize the threedimensional visualization of the drilling rig’s axis traces through the trajectory model algorithm.The specific research is as follows:(1)According to the current existing MWD equipment,experimental platforms and application scenarios,research on the MWD system is carried out.The research content includes independent research and development of MWD units,attitude sensor correction dynamic and static algorithms,trajectory correction algorithms,and realization of axis traces.The 3D visualization of the uncertain error ellipsoid realizes the precise measurement and drawing of the trajectory while drilling.(2)In order to ensure the accuracy of the drawn axis traces,it is necessary to continuously innovate and optimize related technologies to improve the resolution accuracy of the attitude sensor to reduce the deviation between the real trajectory of the borehole and the ideal trajectory during the actual operation.In response to the above problems,this research proposes a joint correction algorithm combining bionics algorithm and classic machine learning,and corrects the non-orthogonal problem of the three-axis sensor.Using this research algorithm,the accuracy of the attitude sensor data has been significantly improved.(3)Inertial sensors and magnetic sensors are needed to calculate the attitude while drilling,but the gyroscope in the inertial sensor has a slow time-varying deviation,especially if the anti-vibration protection measures of the inclinometer while drilling are not good,the gyroscope will be enlarged.The output of the gyroscope is the angular velocity data,and the calculation of the attitude angle is the integral of the angular velocity,which will cause the error to accumulate more and more over time.Use the measured values of the accelerometer and magnetometer to correct the system state value.Based on the traditional filtering algorithm,this research proposes the sequential adaptive square root unscented Kalman filter algorithm(OSS-ASRUKF),which can effectively improve the dynamic error of the attitude sensor,especially the dynamic and static errors of the gyroscope.