[1]王 辉,朱国鹏,郭剑东.基于惯性测量单元的旋挖钻机钻具姿态测量方法[J].机械与电子,2024,42(05):69-75.
　WANG Hui,ZHU Guopeng,GUO Jiandong.Attitude Measurement Method for Rotary Drilling Tool Based on Inertial Measurement Unit[J].Machinery & Electronics,2024,42(05):69-75.
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基于惯性测量单元的旋挖钻机钻具姿态测量方法()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
42
期数:
2024年05期
页码:
69-75
栏目:
机电一体化
出版日期:
2024-05-25

文章信息/Info

Title:
Attitude Measurement Method for Rotary Drilling Tool Based on Inertial Measurement Unit
文章编号:
1001-2257 ( 2024 ) 05-0069-07
作者:
王 辉 1 ; 朱国鹏 2 ; 郭剑东 3
1. 南京航空航天大学自动化学院,江苏 南京 211016 ;
2. 徐州威卡电子控制技术有限公司,江苏 徐州 221122 ;
3. 南京航空航天大学中小型无人机先进技术工信部重点实验室,江苏 南京 210016
Author(s):
WANG Hui1 ;  ZHU Guopeng2 ;  GUO Jiandong3
( 1.College of Automation Engineering , Nanjing University of Aeronautics and Astronautics , Nanjing 211016 , China ;
2.Xuzhou Wika Electronic Control Technology Co. , Ltd. , Xuzhou 221122 , China ; 3.Key Laboratory of Advanced Technology for Small and Medium-Sized UAV , Ministry of Industry and Information Technology , Nanjing University of Aeronautics and Astronautics , Nanjing 210016 , China )
关键词:
旋挖钻机; 成孔垂直度; 惯性测量单元; 四元数; 扩展卡尔曼滤波
Keywords:
rotary drilling ;  borehole verticality ;  inertial measurement unit ;  quaternion ;  extended Kalman filter
分类号:
TU67
文献标志码:
A
摘要:
为实时获取钻孔过程中钻具的姿态信息,提高机手掌握成孔垂直度,设计了一种基于惯性测量单元的钻具姿态测量方法。该方法采用三轴加速度计、磁力计和陀螺仪构成惯性测量单元,建立基于四元数的姿态测量非线性模型,并采用基于四元数的扩展卡尔曼滤波算法,有效降低振动等干扰信号的影响,提高钻具姿态解算的准确性。实验结果表明,该方法能够有效避免振动对动态测量的干扰,实现旋挖钻机姿态的准确测量,为旋挖钻机施工提供实时、准确的姿态监测手段,为桩基施工质量提供重要保障。
Abstract:
?In order to obtain the attitude information of the drilling tool in real-time during the drilling process , and to help the machine operator better grasp the verticality of the hole , an inertial measurement unit-based method for measuring the attitude of the drilling tool is proposed.This method uses a three-axis accelerometer , a three-axis magnetometer , and a gyroscope to form an inertial measurement unit , a nonlinear model for attitude measurement based on quaternions is established , and an extended Kalman filter algorithm based on quaternions is used.This algorithm effectively reduces the impact of interference signals such as vibrations and improves the accuracy of drilling tool attitude calculation.The experimental results show that the proposed method can effectively avoid the interference of vibrations on dynamic measurement and achieve accurate measurement of the attitude of the rotary drilling tool.This method provides a real-time and accurate attitude monitoring method for rotary drilling construction , and an important guarantee for the quality of pile foundation construction.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2023-05-18
基金项目:国家重点实验室基金( NBA200060 )
作者简介:王 辉 ( 1982- ),男,江苏徐州人,硕士研究生,工程师,研究方向为控制工程;朱国鹏 ( 1992- ),男,江苏徐州人,硕士研究生,工程师,研究方向为控制工程;郭剑东 ( 1983- ),男,江苏徐州人,副研究员,硕士研究生导师,研究方向为无人机飞行控制与导航,通信作者。
更新日期/Last Update: 2024-06-24