A Combination Scheme of Pure Strapdown and Dual-Axis Rotation Inertial Navigation Systems

He, Hongyang; Zha, Feng; Feng, Li; Wei, Qiushuo

doi:10.3390/s23063091

Cited by 3 publications

(1 citation statement)

References 14 publications

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“…The strap-down inertial navigation error propagation equation is used to build the system state model [19], and the difference between the geomagnetic intensity of the inertial navigation indication position and the actual measured geomagnetic intensity is used as the observation measurement to build the integrated navigation nonlinear system model; adopting an improved unscented Kalman filtering method to implement estimation and correction, in order to achieve the design of an inertial/geomagnetic tight integrated navigation system and improve system accuracy and reliability. The diagram of the inertial/geomagnetic tight integrated navigation system is shown in figure 1.…”

Section: Establishment Of State Vector and State Equationmentioning

confidence: 99%

A drilling combination positioning method based on geomagnetic/inertial navigation combined with PSD improved unscented Kalman filtering algorithm*

Yang,

Qin,

Wei

et al. 2023

Meas. Sci. Technol.

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During the drilling process, the accuracy of measuring drilling tool attitude is severely affected by measurement drift errors in the inertial device itself and the significant interference noise generated by the impact vibration of the drill bit. To address these issues and achieve precise measurement of drilling trajectory, this paper proposes a combined positioning method based on geomagnetism/inertial navigation combined with PSD improved unscented Kalman filtering. An experimental platform was constructed, and a sensor system was installed in the vicinity of the drill bit for short section measurements. Experimental verification was conducted using actual drilling data. The results demonstrate that, compared to general unscented Kalman filtering, the average position error using PSD improved unscented Kalman filtering was reduced from 0.122 m to 0.088 m, and the average velocity error was reduced from 0.019 m s−1 to 0.005 m s−1. By comparing and matching with the drilling trajectory drawn in the logging process, the overall positioning accuracy of the combined positioning method is as high as 90.8%, yielding positioning results that are highly authentic and effective, thereby meeting the on-site usage requirements.

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Section: Establishment Of State Vector and State Equationmentioning

confidence: 99%