Abstract
Directional drilling is a method to bore toward a desired path. For control of directional drilling, the information about underground localization is important. However, in underground environment, GPS signal is unreachable and wireless beacon system is useless. Conventional researches focused on the methods based on IMU (Inertial Measurement Unit), but vibration of drilling and distortion of magnetic fields interfere with the IMU measurement. In this paper, a new underground localization algorithm for directional drilling using graph SLAM (simultaneous localization and mapping) and magnetic fields in backward travel is proposed. The proposed algorithm records magnetic fields in forward travel and optimizes the poses using the graph SLAM by matching magnetic fields in backward travel. The proposed algorithm is verified by simulations.
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