Navigation Algorithm Applied to the Bit of Underwater Horizontal Directional Drilling in a Vibration Environment

Abstract

In its working state, the bit used in underwater horizontal directional drilling (UHDD) produces a high-frequency vibration that can affect accuracy of navigation. We designed a low-pass filter with linear phase on the basis of spectral characteristics of sensor data. To improve further the accuracy of navigation, we deduce the state error model on the basis of the random walk model of acceleration and angular velocity. We use an indirect Kalman filter algorithm to correct the attitude and position of the bit used with UHDD on the basis of observations coming from our working state analysis. Last, we derive a complete navigation algorithm function, including the acquisition method of steady-state component of acceleration and angular velocity. Experimental results show that the navigation algorithm proposed in this paper can obtain accurate attitude and location information of the bit in a vibration environment.