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摘要:
为了解决现有水平定向钻进导向方法测量精度低，定位深度浅，测量数据不连续以及受磁场干扰影响大的问题，提出一种基于磁信标的水平定向钻进导向定位方法，实现水平定向钻进的位置和姿态测量；设计了基于三阶磁梯度张量的测量阵列，通过仿真验证该方法可以消除地磁场的影响，实现位置测量；依据惯性导航理论，利用MEMS传感器、测量阵列位置信息和零速信息进行多源数据融合，对惯性导航解算出的姿态误差进行估计和修正，提高姿态测量精度。通过地面位置测量实验对基于三阶磁梯度张量的位置测量算法进行验证，位置测量结果的平均相对误差为4.57%；通过地面姿态测量实验对多源数据融合算法进行验证，结果表明，倾角误差在0.3°以内，工具面角误差在0.7°以内，方位角的误差值在1°以内，证明了提出的姿态测量算法的准确性和有效性。研究成果可以提高非开挖水平定向钻进适用范围、实时性和定位精度，为水平定向钻进导向技术自动化提供了理论基础。
Abstract:In order to solve the problems of existing horizontal directional drilling (HDD) guidance methods, including low measurement accuracy, shallow positioning distance, discontinuous measurement data and great interference by magnetic field, a magnetic beacon-based horizontal directional drilling guidance and positioning method was proposed to achieve the position and attitude measurement of HDD. Meanwhile, a measurement array based on the third-order magnetic gradient tensor was designed, which verifies through simulation that the method could eliminate the influence of the geomagnetic fields and achieve the position measurement. In order to improve the attitude measurement accuracy, the multisource data fusion was performed with MEMS sensors, measurement array position information and zero velocity information based on the inertial navigation theory to estimate and correct the attitude errors solved by inertial navigation. Besides, the position measurement algorithm based on the third-order magnetic gradient tensor was verified by ground-based position measurement experiments, with the average relative error of 4.57% in the position measurement results. In addition, the multi-source data fusion algorithm was verified by ground attitude measurement experiments. The results show that the error is within 0.3° for the inclination angle, within 0.7° for the tool face angle, and within 1° for the azimuth angle. This indicates the accuracy and effectiveness of the position measurement algorithm based on the third-order magnetic gradient tensor and the attitude measurement algorithm with multi-source data fusion proposed in this paper. The research results could improve the applicable range, real-time performance and positioning accuracy of trenchless horizontal directional drilling, thereby providing the theoretical basis for the automation of HDD guidance technology.
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图 1 基于三阶磁梯度张量的测量阵列
Fig. 1 Measurement array based on the third-order magnetic gradient tensor
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图 3 姿态测量传感器安装方法及坐标系建立
Fig. 3 Installation method of attitude measurement sensor and establishment of coordinate system
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图 4 基于卡尔曼滤波的姿态测量算法流程
Fig. 4 Process flow of Kalman filter-based attitude measurement algorithm
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图 5 加入磁芯的磁信标磁场分布
Fig. 5 Magnetic field distribution of a magnetic beacon with a magnetic core
表 1 磁信标空间位置磁场强度
Table 1 Magnetic field strength at the spatial position of the magnetic beacon
距离中心点位置/m 径向场强/nT 轴向场强/nT 10 125.77 54 8 423.97 118.81 6 1204.5 459.3 4 3340.4 1000.1 2 93917 24923 
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表 2 手持式激光测距仪技术参数
Table 2 Technical parameters of the handheld laser range finder
参数 数值 测量距离/m 0~100.0 30 m内测量精度/mm ±1.5 最小显示单位/mm 1 激光等级 不低于Ⅱ 激光点直径精度/(mm·m−1) 0.6
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表 3 测量阵列中磁强计技术参数
Table 3 Technical parameters of the magnetometer in the measurement array
参数 参数值 动态范围/
Gauss±13 比例系数
稳定性/% F·S0.5 非线性/
% F·S1.0 偏移量/
mGauss1.0
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表 4 各轴误差
Table 4 Error of various axes
位置测量 最大误差/
m相对误差/
%平均误差/
m平均相对误差/
%$ x $轴 0.278 9.27 0.135 4.52 y轴 0.702 7.02 0.306 3.06 $ {\textit{z}} $轴 0.261 11.86 0.135 6.14
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表 5 测量阵列中加速度计和陀螺仪技术参数
Table 5 Technical parameters of accelerometer and gyroscope in the measurement array
陀螺仪参数 数值 加速度计参数 数值 带宽/Hz 100 带宽/Hz 100 零偏稳定性/[(°)·hr−1] 12 零偏稳定性/10−6g 30 偏移量/[(°)·s−1] 0.003 偏移量/10−3g 0.1 随机游走/[(°)·hr−1/2] 0.2 随机游走/(10−6g·hr−1/2) 340 动态范围/[(°)·s−1] ±300 动态范围/g ±8
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表 6 实验中轨迹参数设置
Table 6 Trajectory parameter settings in the experiments
时间/s 方位角/(°) 工具面角/(°) 倾角/(°) 0~40 0 0 −16 40~70 0 0 0 70~100 15 0 0 100~120 −5 0 0 120~140 −20 0 0 140~165 0 0 0 165~180 0 0 16
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