College of Instrumentation and Electrical Engineering, Jilin University
College of Construction Engineering, Jilin University

定向钻进连续取心作为一项新兴的地质勘探技术，在矿产资源勘探方面有广阔前景，为研发具有自主知识产权的定向连续取心钻具，设计了基于姿态传感和无线通信技术的姿态监测系统。硬件系统设计方面，选用MPU9250姿态传感器和STM32F103C8T6主控芯片监测钻具姿态的变化，通过LoRa无线模块实现穿透地层的通信，同时为适应钻具的结构和随钻测量的要求，自主设计了小型化的系统电路，其长宽高尺寸分别为70 mm×25 mm×7 mm。软件设计方面，通过互补滤波和卡尔曼滤波对MPU9250获取的数据进行处理，建立了钻具姿态解算误差补偿模型，设计上位机实现钻具姿态的实时展示。最后，通过强电磁干扰环境的模拟测试对硬件和软件的可靠性与准确性进行了验证。结果表明，设计的系统有效地抑制了惯性传感组件的漂移、累积误差以及噪声，能够持续、稳定地对钻具姿态进行实时监测，为实现定向钻进连续取心钻具的姿态监测提供了一种新思路。

Directional drilling continuous coring, as an emerging geological exploration technique, holds vast potential in the field of mineral resource exploration. To facilitate the development of directional continuous coring tools with proprietary intellectual property rights, an attitude monitoring system based on attitude sensing and wireless communication technology was designed in this paper. Concerning the hardware system design, the MPU9250 attitude sensor and STM32F103C8T6 main control chip were adopted to monitor the attitude change of drilling tools, where the communication through geological layers was achieved using a LoRa wireless module. Additionally, to accommodate the structural of the drilling tool and the requirements of measurement while drilling, a downsized system circuit was autonomously designed, which is sized 70 mm × 25 mm × 7 mm (L × W × H). In terms of software design, data collected by MPU9250 was processed by complementary filtering and Kalman filtering. Besides, an error compensation model for solution of drilling tool attitude was established, and an upper computer was designed to exhibit the real-time attitude of a drilling tool. Ultimately, the reliability and accuracy of both hardware and software were verified through simulation tests under the environment with strong electromagnetic interference. The outcomes reveal that the designed system effectively mitigates the drift, cumulative errors, and noise in the inertial sensing components, capable of achieving the continuous and stable real-time attitude monitoring of drilling tool, thereby offering a novel approach towards achieving the attitude monitoring in directional drilling continuous coring tools.

科技部重点研发项目(2021YFC2900200)；国家自然科学基金区域联合基金重点项目(U21A2020)

林婷婷，刘泽楷，马银龙，等. 定向钻进连续取心钻具姿态监测系统设计[J]. 煤田地质与勘探，2023，51(9)：138−146.

LIN Tingting，LIU Zekai，MA Yinlong，et al. Design of attitude monitoring system for directional drilling continuous coring tools[J]. Coal Geology & Exploration，2023，51(9)：138−146.