基于光纤陀螺的煤矿钻机定向仪设计

针对现有方法无法实现瓦斯抽放孔开钻前钻机精确、快捷定向的问题，提出采用光纤陀螺惯性导航技术实现钻机精确快速定向的新方法。根据调整钻机姿态过程的运动特性及测量要求，设计了钻机定向仪测量总体方案，采用速度及位置的双参数组合抑制了测量误差随时间的漂移，设计了组合卡尔曼滤波器，实现了快速、方便、长时间的精确测量。完成了定向仪硬件总成、软件算法及上位机软件的设计，实现了原理样机。通过对样机试验验证了方案的正确性，试验结果表明定向仪寻北时间、寻北精度以及动静态长时间测量精度均达到了钻机定向指标要求，基于光纤陀螺的钻机定向仪为煤炭领域相关定位定向测试仪器研制提供了一种新思路。

The design of drilling rig directional instrument based on fiber optic gyroscope(FOG) in coal mine

On account of the coal mine gas drainage holes can not be precise and quick orientation before drilling，a new method using the fiber optic gyroscope(FOG) inertial navigation technology was proposed to achieve accurate and fast orientation of drilling machine.According to the motion characteristics of drilling rig attitude adjusting process and measurement requirements，the drilling directional instrument measuring overall scheme was designed，using information of velocity and position to restrain the measurement error which was drifted by time.The Kalman fiter(KF) was designed to realize the measurement precision for long time.The principle prototype was realized by designing hardware and software of the system.The correctness of the method was verified through the designed prototype testing.The experimental results show that north finding time，accuracy，system precision of dynamic and static long time measurement meet the using requirement.FOG-based Directional Instrument provide a new idea for positioning and orientation instruments developed in the coal field.