Low-Cost IMU Error Intercorrection Method for Verticality Measurement

The verticality of the borehole determines the firmness of the superstructure, so it is very important to measure the verticality of the borehole. However, the existing static manual measurement technology has low efficiency and poor accuracy. To realize dynamic measurement, reduce cost, and improve measurement accuracy, this article proposes the error mutual correction method for low-cost IMU according to the working characteristics of dynamic and static combination of drill pipe and establishes an error online compensation model and verticality measurement model. The mutual compensation method of gyroscope and accelerometer errors suppresses the accumulation of measurement errors. In addition, the pile digger works in a complex environment, and a verticality measurement sensor that is waterproof, vibration-proof, high-temperature-proof, with online solution and wireless transmission, is designed to improve the reliability of the device. Experiments show that the mutual correction verticality measurement method in this article can achieve a measurement accuracy of 7 ‰( $3\sigma $ ).