煤矿井下连续管钻进管柱分析及射流钻进实验

为了解决现有水平定向钻进导向方法测量精度低，定位深度浅，测量数据不连续以及受磁场干扰影响大的问题，提出一种基于磁信标的水平定向钻进导向定位方法，实现水平定向钻进的位置和姿态测量；设计了基于三阶磁梯度张量的测量阵列，通过仿真验证该方法可以消除地磁场的影响，实现位置测量；依据惯性导航理论，利用MEMS传感器、测量阵列位置信息和零速信息进行多源数据融合，对惯性导航解算出的姿态误差进行估计和修正，提高姿态测量精度。通过地面位置测量实验对基于三阶磁梯度张量的位置测量算法进行验证，位置测量结果的平均相对误差为4.57%；通过地面姿态测量实验对多源数据融合算法进行验证，结果表明，倾角误差在0.3°以内，工具面角误差在0.7°以内，方位角的误差值在1°以内，证明了提出的姿态测量算法的准确性和有效性。研究成果可以提高非开挖水平定向钻进适用范围、实时性和定位精度，为水平定向钻进导向技术自动化提供了理论基础。

Analysis and jet drilling test of coiled tubing drilling string for underground coal mine

In order to solve the problems of existing horizontal directional drilling (HDD) guidance methods, including low measurement accuracy, shallow positioning distance, discontinuous measurement data and great interference by magnetic field, a magnetic beacon-based horizontal directional drilling guidance and positioning method was proposed to achieve the position and attitude measurement of HDD. Meanwhile, a measurement array based on the third-order magnetic gradient tensor was designed, which verifies through simulation that the method could eliminate the influence of the geomagnetic fields and achieve the position measurement. In order to improve the attitude measurement accuracy, the multisource data fusion was performed with MEMS sensors, measurement array position information and zero velocity information based on the inertial navigation theory to estimate and correct the attitude errors solved by inertial navigation. Besides, the position measurement algorithm based on the third-order magnetic gradient tensor was verified by ground-based position measurement experiments, with the average relative error of 4.57% in the position measurement results. In addition, the multi-source data fusion algorithm was verified by ground attitude measurement experiments. The results show that the error is within 0.3° for the inclination angle, within 0.7° for the tool face angle, and within 1° for the azimuth angle. This indicates the accuracy and effectiveness of the position measurement algorithm based on the third-order magnetic gradient tensor and the attitude measurement algorithm with multi-source data fusion proposed in this paper. The research results could improve the applicable range, real-time performance and positioning accuracy of trenchless horizontal directional drilling, thereby providing the theoretical basis for the automation of HDD guidance technology.