基于陀螺仪的随钻姿态测量新算法
苏毅;齐昕;刘阳;张金光
【期刊名称】《传感器与微系统》 【年(卷),期】2013(032)001
【摘要】水平定向钻进中钻具姿态的实时测量是实现导向的关键因素.针对已有算法的不足和缺点,采用陀螺仪进行钻具倾角、方位角和工具面向角的测量,推导出了相应的姿态角计算公式.同时针对测量过程中存在的陀螺仪漂移误差,采用四元数全姿态互补滤波算法,利用加速度计和磁强计对陀螺仪进行补偿,给出了详细的理论分析和计算过程.实验结果表明:基于传感器组合的四元数全姿态互补滤波算法能够有效地消除陀螺仪漂移误差,获得的方位角测量精度优于± 0.3°.%Real time measurements of drill bit attitude while drilling are the key factors for guiding of horizontal directional drilling. Aiming at shortcomings of existing algorithms, a new method is introduced to measure inclination,azimuth, and tool face angle using gyroscope. Through quaternion-based
all
attitude
complementary
filter
algorithm,
accelerometers and magnetometers are used to compensate for the measurement error due to the drift of the gyroscope output over time. The detailed theoretical analysis and calculation process are presented. The results show that quatemion-based all attitude complementary filter algorithm based on sensor combination can effectively eliminate gyroscope drift error,and obtained azimuth measurement precision is better than ±0.3°.
基于陀螺仪的随钻姿态测量新算法
