Online Error Parameter Identification of Gyroscope Based on SMO in Drilling

Aiming at the error of gyroscope in measurement while drilling (MWD), a Synergy-boosted Magpie Optimizer (SMO) is proposed to identify on-line error parameters. Firstly, the MWD gyroscope error output model is constructed and the error parameters to be identified are analyzed. Then, the MWD gyroscope error objective function is constructed according to the minimum sum of the difference caused by the error at the adjacent time of gyroscope output. Simultaneously, the relationship among the gravity vector output by accelerometer, the geomagnetic vector output by magnetometer and the angular velocity output by gyroscope is used to establish the MWD gyroscope error constraints. Furthermore, the SMO is adopted to solve the objective function under the constraints. An orderly collaborative search strategy based on population entropy is proposed to enhance the search ability of the solutions of MWD gyroscope error parameters. In order to accelerate the convergence and the identification of optimal solution, a gradational attack factor is designed. In addition, a magnetic inertial assisted walking based on magnetic inertia operator and Laplace distribution is proposed to further improve the identification accuracy of error parameters. Finally, the experimental results show that SMO has the advantage of fast convergence and high precision compare with particle swarm optimization (PSO) and magpie optimizer (MO). The inclination angle error can be reduced from 11.67° to 1.63° by SMO in real drilling, which can effectively identify gyroscope error parameters on-line. Index Terms-Gyroscope; MWD; SMO; On-line error parameter identification.