The accurate measurement of position and orientation for shearers is a key technology in realizing an automated, fully-mechanized, coal mining face. Since Global Positioning System (GPS) signal cannot arrive at the coal mine underground, wireless sensor network positioning system cannot operate stably in the coal mine; thus a strap-down inertial navigation system (SINS) is used to measure the position and orientation of the shearer. Aiming at the problem of the SINS accumulative error, this paper proposes a positioning error correction method based on the motion constraint-aided SINS zero velocity updated (ZUPT) model. First of all, a stationary state detection model of the shearer is built with median filter based on the acceleration and angular rate measured by the SINS. Secondly, the motion of the shearer is analyzed using coal mining technology, then the motion constraint model of the shearer is established. In addition, the alternate action between the motion constraint model and the ZUPT model is analyzed at the process of movement and cessation of the shearer, respectively; hence, the motion constraint-aided SINS ZUPT model is built. Finally, by means of the experimental platform of the SINS for the shearer, the experimental results show that the maximum position error with the positioning model proposed in this paper is 1.6 m in 180 s, and increases by 92.0% and 88.1% compared with the single motion constraint model and single ZUPT model, respectively. It can then restrain the accumulative error of the SINS effectively.

Traditional measurement of drilling fluid rheological parameters suffers from significant lag due to the inability of the instruments to promptly capture real-time parameters of the drilling fluid. These measurement models are typically constructed based on fixed temperature conditions and empirical formulas, rendering them inadequate for complex temperature gradient environments. Consequently, this limitation results in increased prediction errors, severely compromising the precise monitoring of drilling fluid performance. Aiming at the problems of low accuracy and poor stability of drilling fluid measurements under variable temperature conditions, a support vector machine-based calibration model for drilling fluid rheological parameters in a variable temperature environment is proposed in this paper. First, the measurement principle of the double-tube differential pressure rheology real-time measurement device is analyzed. The relationship between shear stress and shear rate is then established using differential pressure sensor and flow rate data. Utilizing the gray wolf optimization algorithm to optimize the kernel function weights and parameters, an SVM-based calibration model for predicting drilling fluid rheology correction parameters is constructed. Finally, a real-time monitoring platform for drilling fluid is developed. Experimental results show that the maximum relative errors for the predictions of apparent viscosity, plastic viscosity, and yield point are within ±5%, with coefficients of determination (R2) all greater than 0.95. These results validate the effectiveness of the proposed method in accurately monitoring the rheological performance of drilling fluids.

In recent years, in the process of oil and gas exploration and development, the situation of drilling tools drilling out of the reservoir often occurs. Due to the lack of directional indication, the traditional LWD(Logging While Drilling) natural gamma measurement technology cannot guide drilling tools to return to the reservoir efficiently. In order to solve this problem, this paper improves the traditional radiometric gamma measurement technology and establishes a set of azimuth gamma imaging model. Firstly, the basic imaging model is established based on HSI (Hue, Saturation, Intensity) color space. Then, the study focuses on the design of the gamma data quality control algorithm, which can effectively suppress the original gamma data noise. In addition, the cubic spline interpolation algorithm is selected to support the model to obtain 360° omni-directional gamma data. Finally, the image processing technology based on fast grayscale grouping is applied in this study, which greatly improves the imaging effect. Field application shows that the model runs stably on site, and the azimuth gamma image is well indicative. It can monitor the relative position relationship between the borehole trajectory and the formation, which effectively improves the reservoir encounter rate, and has high application and promotion value.