Design And Development Of Downhole Follow-hole Trajectory Measurement System

Underground coal mining is the main way of comprehensive coal mining in China,and mine gas is one of the important hidden dangers that threaten the safety of underground operation,and most of the underground gas management and other disaster management work is realized through drilling rig drilling construction,and obtaining data such as the attitude trajectory of the drilling rig,which involves the drilling trajectory measurement technology.It is not very mature at present,and there are problems such as less measurement data,low data transmission rate and easy to lose,low accuracy of drilling attitude solution,rudimentary supporting monitoring interface and low flexibility of the computer host.These problems seriously affect the efficiency and progress of comprehensive mining in coal mines and bring a lot of inconvenience to gas management.In this paper,we design a drilling trajectory measurement system by combining drilling trajectory measurement technology and inertial navigation technology,and design a handheld monitoring system to improve the work efficiency of surveyors.In this paper,we analyze the drilling trajectory measurement technology in detail,determine the coordinate system of drilling tool,ground coordinate system and attitude solution method by comparison,and use wireless electromagnetic wave communication method for data transmission,and select the embedded Linux system as the handheld monitoring platform.In this paper,the main measurement circuit board and the communication module circuit board are designed in detail,and the related software program functions are implemented,and the deterministic and random errors are calibrated using the six-sided method and the Allan variance method,respectively.The quaternion attitude solution is compared with the extended Kalman filter algorithm through the drilling simulation,and the quaternion solution method based on the extended Kalman filter with better smoothness is used to solve the drilling attitude data.The development board based on Samsung S5P6818 chip was selected as the hardware platform of the handheld monitoring system,and the operating system environment of the handheld was built by transplanting Boot Loader,Linux kernel and root file system.The embedded Qt software with cross-platform capability was selected as the software platform for monitoring system development,and the monitoring graphical interface was designed according to the functional requirements.Figure [78] Table [7] Reference [80]...