基于MEMS陀螺的矿用新型钻机开孔定向仪研制

针对目前煤矿井下采用人工测量方法不准确和基于三轴光纤陀螺的钻孔定位成本较高等问题，设计了一种新型钻机开孔定向仪，介绍了仪器的总体方案及工作原理，搭建了基于MSG7100D-300陀螺和KXR94加速度计，以STM32单片机为CPU核心的硬件平台；系统采用静态四位置方法寻北方式及卡尔曼滤波的跟踪算法，有效地、快速地实现系统的测量。通过对原型样机的实验测试，结果表明，基于MEMS陀螺的钻机开孔定向仪其寻北时间、寻北精度以及动态测量精度，均满足了钻机开孔定向的指标要求及用户的实际需求。

Development of a new type of drilling orientation device based on MEMS gyroscope

At present, the hole-opening orientation method can't satisfy the users' actual needs, the manual measuring is inaccurate and the hole-opening orientation instrument based on the three axis optical fiber gyro is too expensive in underground coal mine. In order to solve the above problems, a new type instrument for hole-opening orientation is designed. The paper introduced the overall scheme and working principle of the system. The author set up a hardware platform based on MSG7100D-300 gyroscope and KXR94 accelerometer with STM32 microcontroller as the CPU. The system adopts the static four-position method for north seeking and Kalman filtering tracking algorithm which could realize system measurement effectively and quickly. The correctness of the scheme is verified by the prototype test. The test results show that the north seeking time, the north finding precision and dynamic measuring precision of the hole orientation instrument based on MEMS gyroscope all meet the requirements of the drilling machine's opening orientation and the actual needs of the users.