• 中国出版政府奖提名奖

    中国百强科技报刊

    湖北出版政府奖

    中国高校百佳科技期刊

    中国最美期刊

    留言板

    尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

    姓名
    邮箱
    手机号码
    标题
    留言内容
    验证码

    基于地面磁信标的水平定向钻进实时定位方法

    邓国庆 姚爱国 龚正 邱敏

    邓国庆, 姚爱国, 龚正, 邱敏, 2017. 基于地面磁信标的水平定向钻进实时定位方法. 地球科学, 42(12): 2336-2344. doi: 10.3799/dqkx.2017.567
    引用本文: 邓国庆, 姚爱国, 龚正, 邱敏, 2017. 基于地面磁信标的水平定向钻进实时定位方法. 地球科学, 42(12): 2336-2344. doi: 10.3799/dqkx.2017.567
    Deng Guoqing, Yao Aiguo, Gong Zheng, Qiu Min, 2017. Real-Time Positioning Method for Horizontal Directional Drilling Based on Ground Magnetic Beacon. Earth Science, 42(12): 2336-2344. doi: 10.3799/dqkx.2017.567
    Citation: Deng Guoqing, Yao Aiguo, Gong Zheng, Qiu Min, 2017. Real-Time Positioning Method for Horizontal Directional Drilling Based on Ground Magnetic Beacon. Earth Science, 42(12): 2336-2344. doi: 10.3799/dqkx.2017.567

    基于地面磁信标的水平定向钻进实时定位方法

    doi: 10.3799/dqkx.2017.567
    基金项目: 

    国土资源部公益行业基金项目 201011002-09

    详细信息
      作者简介:

      邓国庆(1989-), 男, 博士研究生, 主要从事地质工程、定向钻井方面的研究

      通讯作者:

      姚爱国

    • 中图分类号: P634

    Real-Time Positioning Method for Horizontal Directional Drilling Based on Ground Magnetic Beacon

    • 摘要: 为提高非开挖水平定向钻进定位的精度和适用范围,提出一种基于地面永磁体信标的定位导向方法,在地面布置Φ50 mm×300 mm永磁体信标,永磁体轴线与水平面平行,利用钻具上安装的由5个三轴磁强计、1个三轴加速度计和1个三轴陀螺仪构成的传感器阵列测量磁信标在钻头附近的磁梯度张量解算钻头的位置.对该定位模型进行仿真实验表明该定位方法在深度和水平方向的定位精度均较高,理论上通过调整磁信标位置、永磁体数量、磁强计精度和基线长度在足够大的钻进深度和距离内保持定位误差小于1%,同时证明在有限钻具空间内基线相对越长,定位精度越高.实测实验表明环境干扰磁场对该方法的影响非常小,具有良好的实际效果.该定位方法满足非开挖水平定向钻进施工时的实时定位导向要求,操作简单,对场地条件要求低,大大提高了水平定向钻进定位的效率和适用范围.

       

    • 图  1  定位系统示意

      1.水平定向钻机;2.钻杆;3.探管;4.钻头;5.设计钻孔轨迹;6.河流(障碍物);7.信标移动设备;8.永磁体;9.地面接口箱;10.计算机

      Fig.  1.  Localization system

      图  2  十字形测量阵列结构

      Fig.  2.  Structure of cross measurement array

      图  3  坐标系示意图

      Fig.  3.  Reference coordinate system

      图  4  初始条件下的定位误差

      a.沿Z轴(深度)方向钻进的定位误差;b.沿X轴方向钻进时的定位误差

      Fig.  4.  Position errors at initial conditions

      图  5  永磁体数量为4个及8个时的定位误差

      a.4个永磁体时两条钻进路径的定位误差;b.8个永磁体时两条钻进路径的定位误差

      Fig.  5.  Position errors with 4 and 8 permanent magnet beacons

      图  6  磁传感器精度为0.1 pT时的定位误差

      Fig.  6.  Position errors with the magnetic sensor of 0.1 pT's precision

      图  7  基线距离为0.05 m和0.15 m时的定位误差

      a.基线距离为0.05 m时的定位误差;b.基线距离为0.15 m时的定位误差

      Fig.  7.  Position errors with baseline of 0.05 m and 0.15 m

      图  8  姿态角误差为0.5°时的定位误差

      Fig.  8.  Position errors with attitude angles errors of 0.5°

      图  9  实测实验定位误差

      Fig.  9.  Position errors of experiment

      表  1  永磁体信标参数

      Table  1.   Parameters of permanent magnet beacon

      牌号长度L(m)直径D(m)剩磁Br(T)矫顽力Hcj(kA/m)
      52M0.30.051.41 035
      下载: 导出CSV
    • Griffin, J., 2009.New Gyropilot for Horizontal Directional Drilling.Trenchless Technology, 26(1-2):97-98(in Chinese). https://www.ideals.illinois.edu/bitstream/handle/2142/45817/FHWA...
      Li, J., Zheng, X.L., Hou, W.S., et al., 2009.Simulation and Experimental Research of Magnetic Field Produced by Permanent Magnet Used in Magnetic Localization.Journal of System Simulation, 21(18):5919-5922(in Chinese with English abstract). http://en.cnki.com.cn/Article_en/CJFDTOTAL-XTFZ200918073.htm
      Liu, J.Z., Jin, J., Chen, X.H., et al., 2003.Application of Ground Beacon Directional Control System in Pipeline Crossing through Haihe River.Petroleum Engineering Construction, 29(6):58-60(in Chinese).
      Liu, L.M., 2012.Configuration Design, Error Analysis and Underwater Target Detection of Fluxgate Tensor Magnetometer(Dissertation).Jilin University, Changchun (in Chinese with English abstract).
      Liu, P.F., Liu, T.Y., Yang, Y.S., et al., 2015.An Improved Tilt Angle Method and Its Application:A Case of Weigang Iron-Ore Deposit, Jiangsu.Earth Science, 40(12):2091-2102 (in Chinese with English abstract). http://d.wanfangdata.com.cn/Periodical_dqkx201512011.aspx
      Liu, T., Wang, B.X., Cui, Y.Y., et al., 2012.Direction and Position Measurement in HDD Using Two Magnetic Fields.Sensors and Actuators A:Physical, 185:168-172.doi: 10.1016/j.sna.2012.08.005
      Liu, Y.Y., Wang, S.C., Zhang, J.S., et al., 2013.Research on the Eleventh Generation IGRF.Acta Seismologica Sinica, 35(1):125-134(in Chinese with English abstract).
      Luo, W.S., Xu, T., Du, L.B., 2007.Directional Drilling Attitude Measurement and Azimuth Correction with Accelerometers and Magnetometers.Journal of National University of Defense Technology, 29(1):106-110(in Chinese with English abstract). http://www.magwell.net/pdf/MWD/%E5%9F%BA%E4%BA%8E%E5%8A%A0%E9%80%9F%E5%BA%A6%E8%AE%A1%E5%92%8C%E7%A3%81%E5%BC%BA%E8%AE%A1%E7%9A%84%E5%AE%9A%E5%90%91%E9%92%BB%E8%BF%9B%E5%A7%BF%E6%80%81%E6%B5%8B%E9%87%8F%E5%8F%8A%E6%96%B9%E4%BD%8D%E6%A0%A1%E6%AD%A3.pdf
      Mercer, J.E., 1998.Walkover Locating Technology.Pipeline & Gas Journal, 255(6):58-60. http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.597.6812
      Rpberts, G.F., Walters, P.H., 1989.System and Method for Locating an Underground Probe Having Orthogonally Oriented Magnetometers.US004, 875, 014.
      Sui, J.D., Liu, Z.Z., Cai, D.L., et al., 1998.The Study of Low Frequency Electromagnetic Wave Rapidly Measuring Soil Moisture Content.Transactions of the Chinese Society of Agricultural Machinery, 29(1):42-48(in Chinese with English abstract).
      Wang, R., Wang, B.X., Kang, J., et al., 2010.Attitude Measurement and Error Compensation for Horizontal Directional Drilling.Journal of Tsinghua University(Science & Technology), 50(2):215-218 (in Chinese with English abstract). http://en.cnki.com.cn/Article_en/CJFDTotal-QHXB201002013.htm
      Wang, W.P., Zeng, Z.F., Wu, C.P., 2015.Coil Attitude Influence and Attitude Correction Method for Frequency Domain Airborne Electromagnetic System.Earth Science, 40(7):1266-1275 (in Chinese with English abstract). http://d.wanfangdata.com.cn/Periodical_dqkx201507015.aspx
      Xu, T., 2006.Research on MWD Surveying Method and Locating Technique of Horizontal Directional Drilling(Dissertation).National University of Defense Technology, Changsha (in Chinese with English abstract).
      Xu, T., Luo, W.S., Lu, H.B., et al., 2005.Design of Underground Sonde of a Directional Drilling Locator System.Sensors and Actuators A:Physical, 119(2):427-432.doi: 10.1016/j.sna.2004.10.030
      Yu, Z.T., Lü, J.W., Fan, L.H., et al., 2014.Improved Method of Magnetic Localization Based on Magnetic Gradient Tensor.Systems Engineering and Electronics, 36(7):1250-1254(in Chinese with English abstract). https://www.researchgate.net/publication/288820935_Improved_method...
      Zhang, G., Zhang, Y.T., Li, Z.N., et al., 2013.Localizing Method of Magnetic Field Gradient Tensor under Carriers Moving Parallelly.Journal of Huazhong University of Science & Technology(Nature Science Edition), 41(1):21-24(in Chinese with English abstract). http://manu48.magtech.com.cn/Jwk_bgxb/CN/abstract/abstract5487...
      Zhang, Z.Y., Xiao, C.H., Gao, J.J., et al., 2010.Experiment Research of Magnetic Dipole Model Applicability for a Magnetic Object.Journal of Basic Science and Engineering, 18(5):862-868(in Chinese with English abstract). https://www.researchgate.net/publication/283743741_Experiment...
      Zhu, R., Zhou, Z.Y., 2002.A MEMS-Based Attitude Reference System.Measurement & Control Technology, 21(10):6-8, 13(in Chinese with English abstract). http://en.cnki.com.cn/Article_en/CJFDTOTAL-IKJS200210001.htm
      Griffin, J., 2009.用于水平定向钻进的新型陀螺导向仪.非开挖技术, 26(1-2):97-98. http://www.cqvip.com/QK/96863B/200901/30365796.html
      李金, 郑小林, 侯文生, 等, 2009.用于磁定位的永磁体磁场仿真与实验研究.系统仿真学报, 21(18):5919-5922. http://www.cqvip.com/QK/96569X/200918/31631619.html
      刘金祯, 金键, 陈雪华, 等, 2003.地面信标控向系统在海河穿越中的应用.石油工程建设, 29(6):58-60. http://www.cqvip.com/QK/95698A/200608/22547891.html
      刘丽敏, 2012. 磁通门张量的结构设计、误差分析及水下目标探测(硕士学位论文). 长春: 吉林大学. http://cdmd.cnki.com.cn/Article/CDMD-10183-1012371597.htm
      刘鹏飞, 刘天佑, 杨宇山, 等, 2015.Tilt梯度算法的改进与应用:以江苏韦岗铁矿为例.地球科学, 40(12):2091-2102.doi: 10.3799/dqkx.2015.185
      刘元元, 王仕成, 张金生, 等, 2013.最新国际地磁参考场模型IGRF11研究.地震学报, 35(1):125-134. http://www.docin.com/p-1445915079.html
      罗武胜, 徐涛, 杜列波, 2007.基于加速度计和磁强计的定向钻进姿态测量及方位校正.国防科技大学学报, 29(1):106-110. http://www.cqvip.com/QK/95131X/200701/25708156.html
      隋吉东, 刘振忠, 蔡德利, 1998.用低频电磁波速测土壤水分的研究.农业机械学报, 29(1):42-48. http://www.cqvip.com/QK/90304X/199801/2941851.html
      王瑞, 王伯雄, 康健, 等, 2010.水平定向钻进随钻姿态测量及误差补偿.清华大学学报:自然科学版, 50(2):215-218. http://www.cqvip.com/QK/93884X/201002/32920736.html
      王卫平, 曾昭发, 吴成平, 2015.频率域航空电磁系统线圈姿态变化影响及校正方法.地球科学, 40(7):1266-1275. http://www.earth-science.net/WebPage/Article.aspx?id=3121
      徐涛, 2006. 水平定向钻随钻测量方法及定位技术研究(博士学位论文). 长沙: 国防科技大学. http://cdmd.cnki.com.cn/Article/CDMD-90002-2007141107.htm
      于振涛, 吕俊伟, 樊利恒, 等, 2014.基于磁梯度张量的目标定位改进方法.系统工程与电子技术, 36(7):1250-1254. http://www.cnki.com.cn/Article/CJFDTOTAL-XTYD201407006.htm
      张光, 张英堂, 李志宁, 等, 2013.载体平动条件下的磁梯度张量定位方法.华中科技大学学报:自然科学版, 41(1):21-24. http://d.wanfangdata.com.cn/Periodical/hzlgdxxb201301005
      张朝阳, 肖昌汉, 高俊吉, 等, 2010.磁性物体磁偶极子模型适用性的试验研究.应用基础与工程科学学报, 18(5):862-868. doi: 10.3969/j.issn.1005-0930.2010.05.016
      朱荣, 周兆英, 2002.基于MEMS的姿态测量系统.测控技术, 21(10):6-8, 13. doi: 10.3969/j.issn.1000-8829.2002.10.002
    • 加载中
    图(9) / 表(1)
    计量
    • 文章访问数:  4923
    • HTML全文浏览量:  2266
    • PDF下载量:  38
    • 被引次数: 0
    出版历程
    • 收稿日期:  2016-11-07
    • 刊出日期:  2017-12-15

    目录

      /

      返回文章
      返回