Research On Rapid Measurement Technology Of Attitude Angle Of Drilling Rig In Coal Mine

The underground drilling rig in the coal mine is the key equipment for gas extraction and analysis,and the gas extraction efficiency is affected by the attitude angle parameters of the drilling rig.The current attitude angle parameters depend on the measurement of multiple external instruments,especially when there is no GPS-assisted north-seeking in the coal mine,the north-seeking time of the north-seeking equipment is usually longer than 300 s.The current attitude angle acquisition method is slow,and the attitude angle acquisition time is too long after the attitude adjustment,and it is difficult to form information interaction with the automatic drilling rig.In this paper,the algorithm research of the attitude meter for attitude angle acquisition after north-seeking and attitude adjustment is carried out.To obtain the attitude angle information quickly,the specific work of this paper is as follows:(1)In the absence of GPS and geomagnetic information assistance,northseeking only relies on fiber-optic gyroscopes.Filtering of fiber-optic gyroscopes is an important means to improve the accuracy and speed of north-seeking.In this paper,the filtering algorithm of the random walk of the fiber optic gyroscope is studied,and the wavelet denoising is carried out by constructing an improved threshold to improve the north-finding accuracy.The results show that the improved threshold algorithm used in this paper is better than the traditional soft and hard threshold algorithms.(2)The ambient temperature in some areas with limited ventilation in the coal mine can reach up to 40°C,and the output error of the fiber optic gyroscope becomes larger.In this paper,an autoregressive moving average model(ARMA)is constructed by studying the output characteristics of the fiber optic gyroscope to predict the output of the fiber optic gyroscope.This method predicts that the output value is not affected by temperature and conforms to the output characteristics of the fiber optic gyroscope itself.At the same time,there is a vibration problem in the drilling rig station,and the vibration source is complex and difficult,which makes it difficult to set a window for filtering.In this paper,robust adaptive filtering combined with the ARMA model is used for output.The results show that the algorithm used in this paper is better than the classical Kalman filter.(3)The fast acquisition of the azimuth reference relies on the north-seeking algorithm.In this paper,the error of the fiber-optic gyro is reduced by filtering to ensure that the north-seeking system can use a simpler static north-seeking algorithm for fast north-seeking.In this paper,the north-seeking algorithm is modeled by combining the two factors of north-seeking accuracy and north-seeking speed,and its performance is analyzed and compared,and the two-position method is determined as the north-seeking algorithm.The variation of error is analyzed by Matlab simulation,and the optimal parameters of the two-position method to find north is determined based on this.(4)After the conventional carrier attitude adjustment,the attitude angle can be directly obtained by integrating the carrier angular rate,but the continuous vibration of the drilling rig causes non-exchangeability errors in the attitude adjustment process.To reduce the impact of drilling rig vibration on the attitude angle accuracy and improve the attitude angle accuracy,this paper uses the quaternion Bortz second-order approximate solution multi-subsample algorithm and the polynomial iterative equivalent rotation vector multi-subsample algorithm to compensate for the nonexchangeability error,and compare its effects..The results show that the quaternion Bortz two-sample algorithm can effectively compensate the error.(5)Verify whether the algorithm used in this paper meets the actual use requirements,load the algorithm into the attitude meter,and perform performance verification on the experimental turntable.The results show that the calculation time of the attitude angle at startup is 200 s,and the attitude angle can be obtained quickly.After receiving 2400 pulses with a total of 1g equivalent,the average error after compensation by the two-sample algorithm is 0.05283°/s,the drift of the fiber optic gyroscope is less than 1°/h after compensation for the zero offsets,and the attitude angle is calculated after the power-on attitude angle and attitude adjustment.The angular errors are all within 0.2°,the repeated north-seeking bias is within 0.6°,and the errors meet the requirements of actual use.