IMU/Magnetometer-Based Azimuth Estimation with Norm Constraint Filtering
Abstract
:1. Introduction
2. Principle of the Azimuth Solution of a Gyroscope-Aided Magnetometer-Based MWD System
2.1. The Structure of the Gyroscope-Aided Magnetometer-Based MWD System
2.2. Principle of the Typical Geomagnetic Azimuth Solution of a Magnetometer-Based MWD System
2.3. Principle of the Azimuth Solution of a Gyroscope-Aided Magnetometer-Based MWD System
3. Dynamical System Model of Geomagnetic Vector
4. Rotary Norm Constraint Filter Design
4.1. Kalman Filter Design
4.2. Rotary Norm Constraint Filtering Method
5. Experimental Results
5.1. Simulation Experiments
5.2. Actual Drilling Experiment
6. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
Appendix A
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Parameters | Magnetometer (HMC1043) | Accelerometer (MS9010) | Gyroscope (CRG20-02) |
---|---|---|---|
Range | ±6 gauss | ±10 g | ±300°/s |
Resolution | 120 μgauss | 0.1 mg | 0.03125°/s |
Bias stability | - | <0.25 mg | 4.7°/h |
Noise | 50 nV/√Hz | 0.140 mg/√Hz | 18 nV/√Hz |
Working TEMP | −40–125 °C | −55–125 °C | −40–105 °C |
Magnetic Field (Gauss) | Raw | Typical | KF | The Proposed |
---|---|---|---|---|
RMSE (X-axis) | 0.0472 | 0.0222 | 0.0121 | 0.0061 |
RMSE (Y-axis) | 0.0466 | 0.0195 | 0.0090 | 0.0047 |
RMSE (Z-axis) | 0.0470 | 0.0211 | 0.0129 | 0.0033 |
Methods | Raw | Typical | KF | The Proposed |
---|---|---|---|---|
Maximum error (°) | 36.62 | 13.50 | 0.96 | 0.63 |
Minimum error (°) | −33.41 | −10.62 | −0.93 | −0.51 |
Mean error (°) | −1.59 | −1.53 | 0.79 | 0.54 |
Steady-state RMSE (°) | 52.17 | 38.64 | 0.89 | 0.56 |
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Yang, C.; Zeng, Q.; Xiong, Z.; Yang, J. IMU/Magnetometer-Based Azimuth Estimation with Norm Constraint Filtering. Sensors 2024, 24, 2982. https://doi.org/10.3390/s24102982
Yang C, Zeng Q, Xiong Z, Yang J. IMU/Magnetometer-Based Azimuth Estimation with Norm Constraint Filtering. Sensors. 2024; 24(10):2982. https://doi.org/10.3390/s24102982
Chicago/Turabian StyleYang, Chuang, Qinghua Zeng, Zhi Xiong, and Jinxian Yang. 2024. "IMU/Magnetometer-Based Azimuth Estimation with Norm Constraint Filtering" Sensors 24, no. 10: 2982. https://doi.org/10.3390/s24102982
APA StyleYang, C., Zeng, Q., Xiong, Z., & Yang, J. (2024). IMU/Magnetometer-Based Azimuth Estimation with Norm Constraint Filtering. Sensors, 24(10), 2982. https://doi.org/10.3390/s24102982