MWD Gyroscope Error Compensation Based on Equivalent Reverse Rotation

Rotational modulation technology has been successfully applied in the field of aerospace and navigation. However, the size of measurements while drilling (MWD) is limited by the drilling environment and rotation cannot be achieved by adding a rotating mechanism. To improve attitude accuracy while drilling, this article proposes a method for identifying the equivalent reverse rotary gyroscope error parameters based on the rotating frost ice optimizer (RFIO). First, the error of equivalent reverse rotation inertial navigation is analyzed. The error objective function of the equivalent reverse rotation is constructed using the gyroscope error. Then, the acceleration, angular velocity, and magnetic field strength at stopping the drilling are used to construct the constraints for the error objective function. Furthermore, an RFIO is proposed based on the equivalent inverse rotation property. The RFIO is used to solve the objective function under the constraints. A dynamic upper and lower bound strategy (DULBS) is proposed to improve the objective function's solution speed based on the objective function's historical values, the number of RFIO iterations adaptive T-distribution, and the Lévy flight. In addition, a rotational wandering strategy (RWS) is proposed to improve the accuracy of the error parameters based on the distance between the current objective function value and the optimal value. Finally, the experimental results show that the RFIO can accurately identify the equivalent reverse-rotating gyroscope error parameters and improve the accuracy of three attitude angles.