Development Of Monitoring System Of Drilling Trajectory Information For Kilometer Direction Drilling System

After the petroleum drilling and the non excavation field,the coal mining industry also widely uses the horizontal directional drilling technology.Km directional drilling is successfully used in gas drainage,drainage and exploitation of coal bed methane exploration and application,in order to make the drill along the borehole trajectory design of drilling and monitoring actual drilling trajectory and the design of borehole trajectory deviations must be to achieve accurate orientation of drilling rigs.At present,the measuring instruments of coal mine underground are generally matched with the drilling machine.In view of the above questions,this paper firstly on the carrier's attitude angle calculation method and borehole trajectory of the drawing method of research is based on magnetic sensor and an acceleration sensor combination calculation formula of attitude angle,the analysis and comparison of the various rendering method of borehole trajectory,laid the theoretical foundation for the subsequent trajectory monitoring system design and development.In the tracking using horizontal directional drilling MWD technology application in the field of the laying of oil drilling and underground pipeline on the basis of combining the characteristics of directional drilling rig used in underground coal mine,developed a set of directional drilling rig trajectory information monitoring system,and the design of hardware and software from the two aspects of the system,the system consists of the measurement probe,orifice monitoring device and track monitoring software is composed of three parts,measuring probe attitude parameters acquisition point measurement,monitoring device records,drilling hole drilling,drill pipe construction parameters,track monitoring processing software to calculate the attitude angle and draw the borehole trajectory,the system has the advantages of simple structure,convenient operation,high reliability that can achieve the drilling trajectory monitoring requirements.In order to improve the measurement precision of the track system,analyzes the sources of error of the three-axis magnetoresistive sensor and acceleration sensor,established triaxial accelerometer error model,proposed a based on recursive least squares fitting ellipsoid and plane fitting of sensor calibration algorithm,the algorithm can not only the sensor bias,sensitivity and non orthogonal error correction,but also correction between triaxial sensor and vector misalignment error,and through the simulation and experiment of the sensor correction algorithm was validated.The experimental results show that the sensor calibration algorithm can better improve the measurement accuracy of the system.This paper by simulation experiment and in-situ test of the whole system was verified.The experimental results show that the system can accurately measuring the pose parameters of the drill and draw the borehole trajectory,realized on KM directional drilling trajectory monitoring information and guidance in the subsequent horizontal directional drilling trajectory design and control.