Ryzhkov I. Models and methods of secondary information transformation in assessing the spatial orientation of objects in difficult conditions

The thesis is devoted to solving the scientific problem of developing and researching models and methods of secondary information transformation in the software and hardware components of the CS for assessing the spatial orientation of objects to ensure its unbiasedness and increase efficiency. The dissertation work presents an analysis of the state and systematization of well-known works, their classification according to essential features, identified on the basis of a review and critical analysis of the most promising conceptual scientific trends and practical directions in assessing the spatial orientation of objects in difficult conditions. A method has been developed for taking into account magnetic anomalies affecting the fluxgate sensor of the inclinometer rotation angles. It is based on measuring the difference between the inclinometer readings and the angle of rotation of the drill pipe during its rotation in the range of 0–360о, which allows further consideration of the value of the magnetic deviation in the inclinometer readings. A method has been developed for determining the parameters of the magnetic anomaly vector from an external source of constant magnetic field through the use of redundant information from SHCASO objects from the IS readings at the wellhead and at the point of assessment, which made it possible to expand the boundaries of using magnetometric transducers. Algorithms for calculating the desired azimuth and the magnetic anomaly intensity vector are proposed. The theory of errors of inclinometers with fixed primary sensors of various physical nature (fluxgate, EGG, accelerometers) and with gimbal pendulum suspensions is developed. It allows you to analyze the factors affecting the bias of the estimate of the angles of the spatial orientation of the drilling tool, expressed through the Euler angles due to: the deviation of the position of the sensors' sensitivity axes from the mutual orthogonality and the reference trihedron of the axes associated with the inclinometer body; changes in the transfer ratio and zero signal of the sensor; non-identity of electrical parameters of primary sensors; inaccurate installation of the pendulum gimbal frames of the inclinometer in the tilt plane and along the vertical of the place. Certain boundary values for each of the given permissible errors have been established. Taking into account the complex of these errors makes it possible to significantly increase the unbiasedness of the estimate of the parameters of the spatial position in conditions of a magnetic anomaly. A number of ISs have been developed, created and implemented as components of SHCASO objects, which have a low level of bias in the orientation assessment, which is achieved through the practical application of calculation methods and further accounting for instrumental errors and magnetic anomalies at the stage of secondary information transformation. The practical application of the totality of the results obtained in the work allowed, as a result, to develop, create and implement a number of SHCASO components of objects capable of operating in conditions of magnetic anomalies, having a small diameter of the protective casing, providing increased unbiasedness of the orientation assessment. They can be used: for static sounding of the bearing capacity of soils; to monitor the state of foundation elements and building structures of objects during operation; for the construction of underground communications; for the assembly of large-sized and remote objects; for monitoring the state of critical structures (NPP, thermal power plants, etc.). Based on the results of theoretical and experimental studies, competitive SHCASO samples have been created, which are technology with qualitatively new characteristics.