Secondary 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 sensitive 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 boundaries and scope of magnetometric transducers in difficult conditions. Methods for calculating the desired azimuth, as well as the parameters 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 signal 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