煤矿井下复杂环境陀螺随钻测斜方法研究

摘要

对于煤矿井下复杂环境,陀螺随钻测斜仪采用的传统Kalman滤波方法已经不能准确地描述测斜系统误差传播特性,可采用UKF(Unscented Kalman Filter)滤波方法建立非线性方程.对比研究了两种滤波方法,并通过仿真验证了UKF方法的正确性及有效性.%In the complex environment of coal mine, an error propagation characteristics of slanting system has not been accurately described by the traditional Kalman filter method of gyro MWD(Measure While Drilling)inclinometer for the complex environment of coal mine.Therefore, UKF (Unscented Kalman Filter) method can be used to establish the nonlinear equation.Two filter methods are studied, and the correctness and validity of UKF method are verified by simulation.