Fusion Dynamic Attitude Combined Measurement While Drilling based on Unscented Kalman Filter
Journal Title: Libyan Journal of Engineering Science and Technology - Year 2024, Vol 4, Issue 1
Abstract
In this study, a fusion system with multi-sensor dynamic attitude combined measurement using a triaxial accelerometer and triaxial magnetometer measurement system is tested and compared. The linear model based on the quaternion allows the device to sense changes in velocity and direction of motion and measures acceleration in multiple axes. In addition to detecting the strength and direction of the magnetic field, which is used to establish the object orientation relative to the earth's magnetic field, other measurements include angular velocity, or the rate of rotation around several axes, and providing information about the object orientation. The mathematical expression of the model is a matrix. This system measures and estimates orientation, position, and motion by combining many sensors that operate in tandem. A fusion system integrated multiple sensors for dynamic attitude measurement, using Unscented Kalman Filter principles and mathematical model. Experiments were conducted using the MPU-9150 GY-9250 9-Axis Attitude Sensor to simulate drilling operations. Three scenarios were created: placing water, placing rocks, inclining the pipe, and striking the pipe with a hammer Median Absolute Deviation (MAD) Values with Normal Data(1108), Anomaly Data (72). With training performance 94.7%
Authors and Affiliations
Mohammed Salem Elshebani, Salwa Mahmoud Ahmed Ibrahim
Keywords
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