Underground localization using dual magnetic field sequence measurement and pose graph SLAM for directional drilling

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With the development of unconventional gas, the technology of directional drilling has become more advanced. Underground localization is the key technique of directional drilling for real-time path following and system control. However, there are problems such as vibration, disconnection with external infrastructure, and magnetic field distortion. Conventional methods cannot solve these problems in real time or in various environments. In this paper, a novel underground localization algorithm using a re-measurement of the sequence of the magnetic field and pose graph SLAM (simultaneous localization and mapping) is introduced. The proposed algorithm exploits the property of the drilling system that the body passes through the previous pass. By comparing the recorded measurement from one magnetic sensor and the current re-measurement from another magnetic sensor, the proposed algorithm predicts the pose of the drilling system. The performance of the algorithm is validated through simulations and experiments.
Publisher
IOP PUBLISHING LTD
Issue Date
2014-10
Language
English
Article Type
Article
Citation

MEASUREMENT SCIENCE TECHNOLOGY, v.25, no.12

ISSN
0957-0233
DOI
10.1088/0957-0233/25/12/125101
URI
http://hdl.handle.net/10203/193891
Appears in Collection
EE-Journal Papers(저널논문)
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