In order to obtain the attitude information of the drilling tool in real-time during the drill-ing process,and to help the machine operator better grasp the verticality of the hole,an inertial measure-ment unit-based method for measuring the attitude of the drilling tool is proposed.This method uses a three-axis accelerometer,a three-axis magnetometer,and a gyroscope to form an inertial measurement u-nit,a nonlinear model for attitude measurement based on quaternions is established,and an extended Kal-man filter algorithm based on quaternions is used.This algorithm effectively reduces the impact of interfer-ence signals such as vibrations and improves the accuracy of drilling tool attitude calculation.The experi-mental results show that the proposed method can effectively avoid the interference of vibrations on dy-namic measurement and achieve accurate measurement of the attitude of the rotary drilling tool.This method provides a real-time and accurate attitude monitoring method for rotary drilling construction,and an important guarantee for the quality of pile foundation construction.
维普
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