Design of attitude monitoring system for directional drilling continuous coring tools
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摘要:
定向钻进连续取心作为一项新兴的地质勘探技术，在矿产资源勘探方面有广阔前景，为研发具有自主知识产权的定向连续取心钻具，设计了基于姿态传感和无线通信技术的姿态监测系统。硬件系统设计方面，选用MPU9250姿态传感器和STM32F103C8T6主控芯片监测钻具姿态的变化，通过LoRa无线模块实现穿透地层的通信，同时为适应钻具的结构和随钻测量的要求，自主设计了小型化的系统电路，其长宽高尺寸分别为70 mm×25 mm×7 mm。软件设计方面，通过互补滤波和卡尔曼滤波对MPU9250获取的数据进行处理，建立了钻具姿态解算误差补偿模型，设计上位机实现钻具姿态的实时展示。最后，通过强电磁干扰环境的模拟测试对硬件和软件的可靠性与准确性进行了验证。结果表明，设计的系统有效地抑制了惯性传感组件的漂移、累积误差以及噪声，能够持续、稳定地对钻具姿态进行实时监测，为实现定向钻进连续取心钻具的姿态监测提供了一种新思路。
Abstract:Directional drilling continuous coring, as an emerging geological exploration technique, holds vast potential in the field of mineral resource exploration. To facilitate the development of directional continuous coring tools with proprietary intellectual property rights, an attitude monitoring system based on attitude sensing and wireless communication technology was designed in this paper. Concerning the hardware system design, the MPU9250 attitude sensor and STM32F103C8T6 main control chip were adopted to monitor the attitude change of drilling tools, where the communication through geological layers was achieved using a LoRa wireless module. Additionally, to accommodate the structural of the drilling tool and the requirements of measurement while drilling, a downsized system circuit was autonomously designed, which is sized 70 mm × 25 mm × 7 mm (L × W × H). In terms of software design, data collected by MPU9250 was processed by complementary filtering and Kalman filtering. Besides, an error compensation model for solution of drilling tool attitude was established, and an upper computer was designed to exhibit the real-time attitude of a drilling tool. Ultimately, the reliability and accuracy of both hardware and software were verified through simulation tests under the environment with strong electromagnetic interference. The outcomes reveal that the designed system effectively mitigates the drift, cumulative errors, and noise in the inertial sensing components, capable of achieving the continuous and stable real-time attitude monitoring of drilling tool, thereby offering a novel approach towards achieving the attitude monitoring in directional drilling continuous coring tools.
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图 5 TPS61025DRCR电源芯片模块及外围电路
Fig. 5 TPS61025DRCR power supply chip module and peripheral circuit
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图 8 钻具坐标系、地理坐标系
Fig. 8 Schematic diagram of drill tool coordinate system and geographic coordinate system
表 1 姿态解算方法对照
Table 1 Comparison of attitude estimation methods
姿态解算方法 优势 局限 实际应用情况 欧拉角 计算简单，易交互 特定情况损失自由度 水平姿态角变化小 方向余弦 可全姿态运行 计算量大，实时性差 应用较少 四元数 参数少，易操作 形式复杂不直观 应用广泛 
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表 2 陀螺仪和加速度计的零点漂移
Table 2 Zero drift of gyroscope and accelerometer
数据序号 Dx/LSB Ex/LSB 1 11.8 458 2 7.6 459 3 8.8 458 4 10.3 458 5 7.5 458 6 5.1 459 7 4.8 459 8 6.7 458 9 7.2 459 10 9.9 459 平均值 7.97 458.5
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