To solve the problem of small volume autonomous high-accuracy pose measurement for plunger,a MEMS full attitude pose measurement system based on gravity observation is designed for plunger gas lift technology.Firstly,utilizing the characteristic that there is no non-gravity acceleration during most of the working process of the plunger,an autonomous navigation algorithm based on gravity observation is designed to improve the accuracy of pose measurement.Secondly,considering the unsolvable problem of pitch flipping during the vertical movement of the plunger,a full attitude solution algorithm is designed.Finally,a physical experiment is conducted on the designed pose measurement system.The experimental results show that when the designed pose measurement system is used for operation,the horizontal attitude accuracy is no more than 0.05 °,the heading drift is less than 0.5 °/h,and the short-term position accuracy is no more than 0.8 m,which verifies that the system can solve the current problem of small volume autonomous high-accuracy pose measurement for the plunger.
plunger air liftMEMSattitude and position measurementgravity observation
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