ECONDARY INFORMATION PROCESSING METHODS WHILE ESTIMATING THE SPATIAL ORIENTATION OF OBJECTS

Abstract

The study is devoted to solving the scientific problem of ensuring unbiasedness and increasing the efficiency of assessing the spatial orientation of objects by applying new methods of secondary information processing in software and hardware components of computer systems. The paper describes a developed method for compensating for magnetic anomalies that affect magnetically sensi-tive sensors of the inclinometer rotation angles. It is based on recording the inclinometer readings and the angle of rotation of the drill pipe as it rotates in the mouth of well in a range of 360 degrees. This makes it possible to determine and further take into account the value of the magnetic deviation from the drill string in the readings of the inclinometer. A method is described for determining the parameters of a magnetic anomaly from an external stationary source of a constant magnetic field by using redundant information from the readings of inclinometery transducers in the mouth of well and at the point of assessment. This allows to expand the bound-aries and scope of magnetometric transducers in difficult conditions. Methods for calculating the desired azimuth, as well as the pa-rameters of the intensity vector of the magnetic anomaly are proposed. The errors of inclinometers based on sensor devices of various physical nature (fluxgates, gyroscopes, accelerometers), both rigidly fixed and with the use of gimbals pendulum suspensions, are considered. The factors influencing the bias of the estimation of the angles of the spatial orientation of the drilling tool, expressed through the Euler angles, are analyzed. The analysis took into account the effect of various reasons: deviations of the transducers' sensitivity axes from mutual orthogonality and the reference trihedron of the axes associated with the body; changes in the zero sig-nal and transfer ratios under the influence of temperature; non-identical electrical parameters; inaccurate installation of the pendulum gimbal sensor frames in the tilt plane and along the vertical of the place. The permissible boundary values of each of the given errors have been determined. Consideration of these errors can significantly increase the unbiasedness of the assessment of the position of the object in difficult conditions. The practical significance of the results presented in the paper is the development of software and hardware components for assessing the spatial orientation of objects on the basis of the designed inclinometers capable of operating in difficult operating conditions and having a small diameter of the protective casing. Similar software and hardware components for assessing the spatial orientation of objects can be used: for the construction of underground communications; for the assembly of large-sized and remote objects; for static sounding of soils; for monitoring the state of building structure elements during operation.