The object of research is the strapdown gyroinclinometer (SOI), consisting of the bore-holes device (BHD) and the ground-based equipment. The BHD consists of a three-component gyro rate meter (TRGM), a three-component specific force meter (TSFM), and a flash-memory (FM). The blocks of recording and storage of information are equipped by thermostabilization system. The mentioned devices, TRGM, TSFM, FM, and a stationary computer (SC) constitute the SINS. It operates in a mode of record of the information at descent and rise of the BHD. After extraction the BHD with FM from a bore-hole, SINS operates in a mode of calculation with the help of SC. The parameters of orientation and positioning of the BHD are derived. The BHD includes also the three-component magnetometer (TMM), like TRGM and a TSFM do, which is fixed on the BHD body, and the discrete gauge of increments of length of logging cables (LC) which are integrated with SINS in various modes of operation. The TRGM consists of optical fiber gyroscopes (OFG), while the TSFM consists of compensation pendular accelerometers. The SGI feature is that the two groups of operation algorithms are employed which provide the orientation and positioning without any restrictions on the angles of turns of the BHD: · algorithms on the basis of simultaneous application of two versions of Euler kinematics equations corresponding to Euler and Euler-Krylov angles, with the correction members inserted from the TSFM, TMM and LC taking into account the switching of output information at critical values of zenith angle; · algorithms on the basis of quaternion kinematics equations with the correction members inserted from the TSFM, TMM (at the initial exposure) and LC. In contrast to orientation algorithms, reported in [1], the kinematics equations are projected on the horizon system of coordinates. There is employed also the positioning algorithm which accounts for Earth nonsphericity and the smallness of angle increments of latitude and longitude of BHD relative to its coordinates of pit mouth of the borehole. The mentioned algorithms are successfully applied to the mathematical modeling and at imitation experimental investigations.
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