Real-Time Positioning Method for Horizontal Directional Drilling Based on Ground Magnetic Beacon
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摘要: 为提高非开挖水平定向钻进定位的精度和适用范围，提出一种基于地面永磁体信标的定位导向方法，在地面布置Φ50 mm×300 mm永磁体信标，永磁体轴线与水平面平行，利用钻具上安装的由5个三轴磁强计、1个三轴加速度计和1个三轴陀螺仪构成的传感器阵列测量磁信标在钻头附近的磁梯度张量解算钻头的位置.对该定位模型进行仿真实验表明该定位方法在深度和水平方向的定位精度均较高，理论上通过调整磁信标位置、永磁体数量、磁强计精度和基线长度在足够大的钻进深度和距离内保持定位误差小于1%，同时证明在有限钻具空间内基线相对越长，定位精度越高.实测实验表明环境干扰磁场对该方法的影响非常小，具有良好的实际效果.该定位方法满足非开挖水平定向钻进施工时的实时定位导向要求，操作简单，对场地条件要求低，大大提高了水平定向钻进定位的效率和适用范围.Abstract: Determining the dynamic position of the drill bit is the key to the successful implementation of horizontal directional drilling (HDD). To improve the accuracy and the scope of application of HDD positioning technology, a new method is proposed to detect the position of the drill bit. A cylindrical permanent magnet with 50 mm in diameter and 300 mm height is placed on the ground as a magnetic beacon and the magnet axis is parallel to the horizontal plane. A sensors array which consists of five tri-axial magnetometers, a tri-axial accelerometer and a tri-axial gyroscope is attached to the bottom hole assembly and measures the magnetic gradient tensor of the magnetic beacon. Then, the position of the drill bit can be solved by the localization algorithm based on magnetic gradient tensor. The simulation analysis shows that. The simulation analysis shows that this method has high positioning accuracy in vertical direction and horizontal direction, and the position errors can be controlled within 1% through adjusting the beacon position, the number of the permanent magnets, the sensitive of magnetometers and the baseline distance. Besides, in the limited space of drilling tools, the longer the baseline is, the higher the position accuracy is. The outdoor experiment demonstrate that this method totally avoids the impact of the environmental magnetic field and has good practical effect. Conclusion can be made that this new method can be applied in trenchless HDD positioning with better effect and wider application range than other methods.
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Key words:
- HDD /
- real-time positioning /
- permanent magnet beacon /
- gradient tensor /
- tri-axial magnetometer /
- baseline distance /
- drilling /
- engineering geology
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图 1 定位系统示意
1.水平定向钻机；2.钻杆；3.探管；4.钻头；5.设计钻孔轨迹；6.河流(障碍物)；7.信标移动设备；8.永磁体；9.地面接口箱；10.计算机
Fig. 1. Localization system
图 4 初始条件下的定位误差
a.沿Z轴(深度)方向钻进的定位误差；b.沿X轴方向钻进时的定位误差
Fig. 4. Position errors at initial conditions
图 5 永磁体数量为4个及8个时的定位误差
a.4个永磁体时两条钻进路径的定位误差；b.8个永磁体时两条钻进路径的定位误差
Fig. 5. Position errors with 4 and 8 permanent magnet beacons
图 6 磁传感器精度为0.1 pT时的定位误差
Fig. 6. Position errors with the magnetic sensor of 0.1 pT's precision
图 7 基线距离为0.05 m和0.15 m时的定位误差
a.基线距离为0.05 m时的定位误差；b.基线距离为0.15 m时的定位误差
Fig. 7. Position errors with baseline of 0.05 m and 0.15 m
表 1 永磁体信标参数
Table 1. Parameters of permanent magnet beacon
牌号 长度L(m) 直径D(m) 剩磁Br(T) 矫顽力Hcj(kA/m) 52M 0.3 0.05 1.4 1 035 
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