CN-121473804-B - Recording MEMS gyroscope inclinometer

CN121473804BCN 121473804 BCN121473804 BCN 121473804BCN-121473804-B

Abstract

The application relates to the field of inclinometer equipment, in particular to a recording MEMS gyroscope inclinometer which comprises an MEMS gyroscope inclinometer body, a damping type structural module and an MEMS gyroscope inclinometer body, wherein different north seeking modes are selected according to whether north seeking instructions are received or not when power-on initialization is performed, the true north orientation is determined by resolving an earth rotation angular velocity component and original sensor output data, error compensation calculation is performed on the original sensor output data according to a preset error compensation model, accurate output data of the sensor are output, in the working process, the motion state is judged according to the sensor output data, continuous updating correction is performed on the accurate output data of the sensor through an on-line automatic correction strategy, and the damping type structural module is detachably connected with the MEMS gyroscope inclinometer body and is used for adapting to different underground serial environments. The application adopts the combined sensor, combines the intelligent north-seeking algorithm and the error compensation model, realizes high-precision inclinometry under the magnetic interference environment, and improves the measurement precision and the environmental adaptability.

Inventors

YUE HONGFEI
WANG SAI
Liu Saihui

Assignees

北京耐威时代科技有限公司

Dates

Publication Date: 20260512
Application Date: 20251230

Claims (9)

1. A recorded MEMS gyroscopic inclinometer, comprising: The MEMS gyro inclinometer body is used for executing: when power-on initialization is performed, different north seeking modes are selected according to whether a north seeking instruction is received or not, an inclinometry state is entered, and the true north direction is determined by resolving the rotation angular velocity component of the earth and the output data of an original sensor; according to a preset error compensation model, performing error compensation calculation on the output data of the original sensor, and outputting the accurate output data of the sensor; in the working process, judging a motion state according to the output data of the sensor, and continuously updating and correcting the accurate output data of the sensor through an online automatic correction strategy; the damping structure module is detachably connected with the MEMS gyro inclinometer body and is used for adapting to different underground serial environments; the MEMS gyroscopic inclinometer body includes: the sensor module comprises a triaxial MEMS gyroscope and a triaxial MEMS accelerometer and is used for acquiring output data of the original sensor; The control module comprises a judging sub-module, a north seeking sub-module, a self-north seeking sub-module and an on-line automatic calibration sub-module, The judging sub-module is used for reading the north-seeking configuration information preset in the storage module when the power-on initialization is performed, judging whether a north-seeking instruction exists after the reading is completed, decoding the north-seeking instruction if the north-seeking instruction is received, and performing a north-seeking process according to a north-seeking mode, north-seeking time and longitude and latitude high parameters required by the north-seeking instruction; The north-seeking submodule is used for starting a north-seeking process, entering an inclinometry state, and determining the true north azimuth by resolving the rotation angular velocity component of the earth, the output data of the original sensor and the longitude and latitude high parameters in the north-seeking instruction; The self-north-seeking submodule is used for starting a self-north-seeking process, determining the true north azimuth by resolving the rotation angular velocity component of the earth, the output data of the original sensor and the preset north-seeking configuration information in the storage module; The on-line automatic calibration sub-module is used for judging the motion state according to the output data of the sensor in the working process, and continuously updating and correcting the accurate output data of the sensor through an on-line automatic correction strategy; the storage module is used for recording the output data of the original sensor, the accurate output data of the sensor and the corrected event log in real time; The error compensation model comprises a gyro error compensation model and an accelerometer error compensation model; the calculation formula of the gyro error compensation model comprises: , , wherein, The method comprises the steps that a calculated process variable subjected to first step correction is output for an original gyroscope, wherein the value of i is x, y or z, and three orthogonal axes are indicated; Outputting data for the original gyroscope; Is a gyro scale coefficient; The zero compensation value of the gyroscope; The value of i is 1, 2 or 3, and the value of j is 1, 2 or 3; 、、 accurately outputting data for a gyro comprising three orthogonal axes; the calculation formula of the accelerometer error compensation model comprises: , , , wherein, Calculating a process variable after the original acceleration output is subjected to the first step correction, wherein the value of i is x, y or z, and the value refers to three orthogonal axes; outputting data for the original accelerometer; scale coefficients for the accelerometer; zero compensation value of the accelerometer; Mounting an error coefficient for the accelerometer, wherein i has a value of 1,2 or 3, and j has a value of 1,2 or 3; Scaling the quadratic term coefficients for the accelerometer; Compensating the error of the lever arm of the accelerometer; Synchronizing error compensation values for the gyroscope and the accelerometer; Data is accurately output for the accelerometer.
2. The recording MEMS gyroscope inclinometer of claim 1, wherein the shock absorbing structural modules include connectors that are replaceable to accommodate different core numbers, shock absorbing pads that are adaptable to different diameter requirements, and variable joints that are adaptable to different length requirements.
3. The recording MEMS gyroscope inclinometer of claim 2, wherein the shock pad is of a segmented structure and comprises at least four independent shock absorbing units respectively arranged between the connector at the front end and the variable joint at the front end, between the variable joint at the front end and the MEMS gyroscope inclinometer body, between the MEMS gyroscope inclinometer body and the variable joint at the tail, and between the variable joint at the tail and the connector at the tail.
4. The recorded MEMS gyroscope inclinometer of claim 1, wherein the on-line automatic correction strategy comprises: In the working process, judging a motion state according to the output data of the sensor, and triggering the posture to be realigned when the static state is continuously detected to exceed a first preset duration; and when the static state is continuously detected to exceed the second preset time period, the internal error compensation parameters are updated in an increment mode by utilizing the static data.
5. The recorded MEMS gyroscope inclinometer of claim 4, wherein the online auto-calibration sub-module is further responsive to any of the following conditions when the trigger attitude is realigned: Any shaft angular velocity exceeds the gyroscope range; The non-zero speed duration in the north seeking or self-north seeking process is more than half of the total north seeking duration.
6. The recording MEMS gyroscope inclinometer of claim 4, wherein the incremental update includes: Accurately outputting data by utilizing the accelerometer in a static period, and re-fitting a triaxial MEMS accelerometer installation error matrix; Calculating zero offset drift amount of the gyroscope again by utilizing the accurate output data of the gyroscope in the static period; And writing the updated internal error compensation parameters into an error compensation model for subsequent gesture calculation.
7. The recorded MEMS gyroscopic inclinometer of claim 6 in which the error compensation model comprises a gyroscopic scale factor, a gyroscopic zero bias, a gyroscopic installation error, an accelerometer scale factor, an accelerometer zero bias, an accelerometer installation error, an accelerometer secondary scale term, an accelerometer lever arm error, a gyroscopic and accelerometer synchronization error, the error compensation model is obtained by calibration of an incubator turntable device and written to the memory module.
8. The recorded MEMS gyroscope inclinometer of claim 1, wherein the data recorded by the memory module includes: original gyro output data and original accelerometer output data; the gyroscope accurately outputs data and the accelerometer accurately outputs data; correction event type, trigger time, internal error compensation parameter values before and after update.
9. The recording MEMS gyroscope inclinometer of claim 1, further comprising an external direct current power supply, wherein the external direct current power supply is used for supplying power to the sensor module, the control module and the storage module after being converted by the secondary power supply circuit, and the control module is used for collecting sensor output data through an SPI bus and outputting the data to the storage module and external equipment through a UART bus.

Description

Recording MEMS gyroscope inclinometer Technical Field The invention relates to the field of inclinometer equipment, in particular to a recording MEMS gyroscope inclinometer. Background In the fields of petroleum drilling, geological exploration, coal mining and the like, an inclinometer is a key device for measuring drilling track parameters, can monitor inclination angle and azimuth angle of a borehole in real time, and provides important data support for drilling guidance and geological analysis. With the continuous development of the drilling technology, higher requirements are put on the measurement precision, adaptability and reliability of inclinometers. The traditional inclinometer mainly adopts a combination scheme of a fluxgate and a quartz accelerometer. Chinese patent CN120141404a discloses an integrated gyroscope attitude meter for underground directional inclinometry of coal mine, which utilizes MEMS gyroscopes and MEMS accelerometers to realize small-size structural design, adopts improved initial alignment algorithm including coarse alignment and kalman filtering fine alignment, and realizes full-space high-precision orientation based on satellite injection parameters. Chinese patent CN105910626B discloses a north-seeking full-temperature calibration compensation method for flexible gyroscope inclinometer, which comprises calibrating 52 rotation positions of a triaxial calibration device at different temperatures, and obtaining error coefficients of an accelerometer and a gyroscope by using a least square method. Chinese patent CN104389584B discloses a high-speed continuous gyro inclinometer system, which comprises an inertial body, a probe circuit and a pressure-resistant housing assembly, and realizes automatic north-seeking and high-precision, high-speed continuous measurement of borehole parameters. Chinese patent CN116539065B discloses a calibration correction method for a gyroscopic inclinometer, which establishes a zero offset calibration model, a scale calibration model, an orthogonal model and a different axis model, and forms a comprehensive calibration correction model to reduce measurement errors. Chinese patent CN107228664A discloses a method for solving the attitude and zero-speed correction of a strapdown inertial navigation system of a mining gyro inclinometer, solving a mechanical arrangement equation by a LongGreek tower method, and eliminating accumulated errors by adopting a zero-speed correction algorithm. However, the prior art still has the following defects that firstly, the prior art mainly relies on geomagnetic fields to carry out azimuth measurement, in a magnetic mining area or an environment with magnetic interference, a measurement result is obviously affected, measurement errors are increased, the application of the sensor in a complex geological environment is limited, secondly, a triaxial fluxgate and a triaxial quartz accelerometer are commonly used in the prior art, the sensor is large in size, positive and negative power supplies are needed to supply power, the power supply design is complex, an output signal is an analog signal, an external AD (analog-to-digital) conversion circuit is needed, the whole signal conditioning circuit is huge and complex in design, and secondly, the prior art mainly adopts a slurry pulse transmission mode, the transmission rate is relatively low, and generally only can reach 4-10bit/s, a large amount of observation data cannot be transmitted from underground to the ground, so that the real-time performance and the integrity of data acquisition are affected. Disclosure of Invention In order to solve the technical problems of increased measurement error, large sensor volume, complex power supply, low data transmission rate, poor product adaptability and the like in the magnetic mining area environment in the prior art, the application provides a recording MEMS gyroscope inclinometer. Meanwhile, dynamic compensation of the system error of the MEMS sensor is realized through an innovative error compensation model and an online automatic correction strategy, and high-precision measurement can be still kept in a complex underground environment. The technical scheme includes that the recording MEMS gyroscope inclinometer comprises an MEMS gyroscope inclinometer body, a damping structure module and an MEMS gyroscope inclinometer body, wherein the MEMS gyroscope inclinometer body is used for executing power-on initialization, selecting different north seeking modes according to whether north seeking instructions are received or not, entering an inclinometry state, determining the true north direction by resolving an earth rotation angular velocity component and original sensor output data, performing error compensation calculation on the original sensor output data according to a preset error compensation model, outputting sensor accurate output data, judging a motion state according to the sensor output data, continuously updating and