Error Analysis And Positioning Research Of Measurement While Drilling In Coal Mine

The measurement-while-drilling technology in coal mines is the key to the realization of coal resource mining.By installing the measurement-while-drilling system on the drill pipe part of the rear end of the drill bit of the horizontal directional drilling rig in mines,the posture of the system is measured in real time to realize the tracking and positioning of the drilling trajectory.In recent years,with the high standards and strict requirements of the national coal industry,the industry ’ s requirements for mine horizontal directional drilling rigs are also increasing.However,there is still a big gap in the measurement technology of most horizontal directional drilling rigs in China compared with foreign countries.Due to the complex underground geological conditions,the measurement data obtained are poor and difficult to locate accurately,which affects the mining efficiency and production safety of coal resources seriously.Therefore,it is of great significance to study the measurement-while-drilling technology of horizontal directional drilling rigs in coal mines in terms of production safety,coal mining,water exploration,gas exploration,and coalbed methane development in China’s coal industry.In this paper,the mine horizontal directional drilling rig is taken as the research object,its measurement while drilling section is preliminarily designed,its measurement while drilling technology,multi-sensor data fusion,attitude calculation technology,and uncertainty representation of positioning error are studied.The main research contents are as follows :(1)To solve the problem that the attitude measurement sensor is affected by its own error in the while drilling system,the error analysis of the inertial sensor is carried out in this paper.From the point of view of each element of the calibration results,the error calibration model that can meet both directivity and integrity is established,and an adaptive cuckoo search(ACS)algorithm with adjustment factor is proposed.The algorithm is used to calibrate the inertial sensor in the field,so as to eliminate the error influence of the device itself.(2)To solve the problem that the accuracy of the algorithm decreases or even diverges due to the cumulative error produced by the inertial sensor itself due to the long-term work and the external influence of the system state jump or unknown measurement noise when the attitude calculation of the drilling measurement system is carried out,a fuzzy robust adaptive-ubature Kalman filter(RA-CKF)algorithm based on fuzzy correction criterion is proposed.(3)The measurement while drilling system is affected by a variety of errors,which leads to the uncertainty of system positioning.In this paper,the uncertainty of system positioning is characterized by probability form,error ellipsoid and cross-sectional error ellipse.