CN111411938A - Drilling rod propulsion parameter calculation method of drilling system - Google Patents
Drilling rod propulsion parameter calculation method of drilling system Download PDFInfo
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Abstract
The invention discloses a drilling rod propulsion parameter calculation method of a drilling system, wherein the drilling system comprises a guide instrument, and is characterized in that: the method comprises the following steps: 1) firstly, establishing an operation project and establishing engineering requirement parameters; 2) determining a starting point and a terminal point; 3) according to the ground route of the construction plan of the steps 1) and 2), carrying out GPS position information acquisition on key points of the plane route by using a first GPS receiver of a guide instrument; 4) and calculating the drill rod propulsion parameters by using the GPS position information of the key points. Compared with the prior art, the invention has the advantages that: and through the GPS position information, the propulsion parameters of the drill rod are accurately calculated, so that the route of the drill rod is conveniently planned.
Description
Technical Field
The invention relates to the technical field of trenchless drilling, in particular to a drilling rod propulsion parameter calculation method of a drilling system.
Background
With the large-scale development of urban construction, sewage intercepting pipes or energy (liquefied gas, natural gas and the like) supply pipes need to be laid in cities, and a common method is to dig grooves to bury pipes and bury lines, which causes environmental pollution, traffic jam and potential safety hazards in construction.
Before the non-excavation technology appeared, if the underground pipeline needs to be laid, a trench with a certain depth is usually dug on the road surface by using an excavator, and the trench is backfilled after the pipeline is laid. The construction method not only wastes time and labor, but also causes harm to road facilities and traffic. In some environments, such as rivers, buildings, etc., it is not possible to dig trenches.
Therefore, a non-excavation technique, i.e., a construction technique for laying, repairing and replacing underground pipelines without trenching the road surface and damaging the surface layer of a large area by using a rock-soil drilling means, has been developed and used. The trenchless technology has the advantages of short period, low cost, less pollution, good safety performance and the like, and the normal traffic order is not influenced.
The trenchless technology is widely applied to a horizontal guide advancing method, and is realized by guiding a drill rod provided with a drill bit to advance directionally by using a trenchless guide instrument. One of the key techniques is drill bit positioning. During excavation, the operator must know the location of the bit in the ground before deciding which direction the bit should be advanced, or the excavation process will have unpredictable consequences. The trenchless guiding instrument can provide real-time working conditions, such as depth, inclination angle and clock direction, of the drill bit, so that ground operators can master the drilling track in real time to correct the subsequent operation in time, accurate orientation according to the set route track is guaranteed, and trenchless pipe laying is completed. It can be seen that determining the precise position of the drill bit is an essential key to ensure construction safety and quality.
To determine the position of the drill bit, the method used is typically a combined subsurface electromagnetic carbon rod and surface GPS estimation. In general, since the length of the drill bit is given, the position of the drill bit advancing direction (longitudinal position) can be calculated relatively accurately by the inclination angle of the drill bit. However, the positions of both sides of the drill bit (lateral positions) are provided by GPS. Even if general GPS correction is used, the precision can only reach the meter level. That is, the actual location of the drill bit may deviate by about 1 meter from the location where it should be. Underground laid pipelines can often withstand a range of bending, but excessive bending can present an unimaginable safety hazard. Therefore, the error of about one meter per drill rod has no practical significance for site construction, can not ensure the use safety of the laid pipeline, and even can cause great accident potential. In addition, a plurality of obstacles or existing pipelines exist underground, and serious accidents can be caused by careless construction.
Therefore, the accurate positioning is a key technology of the trenchless technology, and the positioning accuracy in the prior art cannot meet the requirement, so that a good route planning method is not provided, and further improvement is needed.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a method for calculating the drill rod propulsion parameters of a drilling system, aiming at the defects in the prior art, the method can accurately calculate the propulsion parameters of the drill rod and is convenient for planning the propulsion route of the drill rod.
The technical scheme adopted by the invention for solving the first technical problem is as follows: a method of calculating a drill pipe advance parameter of a drilling system, the drilling system comprising a director, characterized by: the method comprises the following steps:
1) firstly, establishing an operation project and establishing engineering requirement parameters;
2) determining a starting point and a terminal point;
3) according to the ground route of the construction plan of the steps 1) and 2), carrying out GPS position information acquisition on key points of the plane route by using a first GPS receiver of a guide instrument;
4) calculating the drill rod propulsion parameters by using the GPS position information of the key points:
4.1) converting all ground key points into GPS coordinates by combining the depth of each key point;
4.2) converting the GPS coordinates into geocentric coordinates;
4.3) the following calculations are made from the first keypoint to the last third last keypoint:
4.3.1) taking the current key point and the subsequent two key points, and solving the circle of the three points;
4.3.2) converting the coordinates of the circle into the plane of the circle;
4.3.3) calculating the inclination angle of each key point according to the triangle geometry principle and storing the inclination angle, simultaneously calculating the arc length between the current key point and the next key point and storing the arc length, and if the current key point is the third to last key point, calculating the arc length between the two key points to last;
4.4) calculating the following from the first key point to the last key point, generating a plurality of dip angles for one key point in the previous step, taking the average value as the dip angle of the key point and storing;
4.5) calculating the sum of all the saved arc lengths to obtain the total length of the guide path;
4.6) determining the total rod number of the drill rods according to the lengths of the used drill rods;
4.7) calculating the inclination angle of each drill rod, wherein the inclination angle is the inclination angle change of each two adjacent key points divided by the number of the drill rods used between the two key points and the inclination angle of the current key point;
4.8) listing the inclination angle of the drill rod and ending.
Preferably, the circle transformation is performed by, in step 4.3.2), the GPS coordinates of the three key points are (L)a1，lo1，A1)，(La2，lo2，A2)，(La3，lo3，A3) The following operations are performed:
1) setting the three key points at the same height to obtain the GPS coordinates of (L)a1，lo1，A1)，(La2，lo2，A1)，(La3，lo3，A1)；
2) Calculating the distance between each key point of the three key points and the first key point by using the GPS coordinates in the step 1) to obtain the distances D1，D2，D3，D1＝0；
3) Taking the distance between each key point and the first key point as an X coordinate, and the GPS height of each key point as Y to obtain three key pointsTwo-dimensional coordinates of (a): (D)1，A1)，(D2，A2)，(D3，A3)；
4) Assuming the coordinate of center O as (a, b), the following equation set is obtained:
(D1-a)2+(A1-b)2＝R2
(D2-a)2+(A2-b)2＝R2
(D3-a)2+(A3-b)2＝R2
calculating R, a, b, the circle is completely determined.
In step 4.3.3), after the circle is determined, the formula for calculating the horizontal tilt angle of the tangent line passing through one of the key points is K ═ - (a-x)/(b-y), the coordinates of the key point are (x, y), the formula for the tilt angle is P ═ arctan K, the formula for the arc length is, L ═ pi R (P) is calculated1-P2)/180，P1And P2The inclination angles of two key points which are the reciprocal of the three key points forming the circle are respectively.
In order to improve the positioning accuracy of the guide instrument, the drilling system further comprises a fixed base point corrector, and in the step 2), the GPS position information collected by the guide instrument is corrected by using the fixed base point corrector.
Preferably, in order to facilitate the fixed base point corrector to correct the collected data of the guide instrument, the guide instrument comprises a first GPS receiver, a differential data receiver and a GPS correction calculation module, wherein an output end of the differential data receiver of the first GPS receiver is further connected with an input end of the GPS correction calculation module; the fixed base point corrector comprises a second GPS receiver, a difference calculation module, a difference data transmitter and a base point position input module, wherein the difference data transmitter can send signals to the difference data receiver of the guide instrument, the output ends of the second GPS receiver and the base point position input module are connected to the input end of the difference calculation module, and the output end of the difference calculation module is connected with the input end of the difference data transmitter.
Compared with the prior art, the invention has the advantages that: and through the GPS position information, the propulsion parameters of the drill rod are accurately calculated, so that the route of the drill rod is conveniently planned.
Drawings
FIG. 1 is a schematic diagram of the overall layout of a drilling system used in an embodiment of the present invention;
FIG. 2 is a block diagram of one configuration of a guide and a fixed base point orthotic used in accordance with an embodiment of the present invention;
FIG. 3 is a schematic flow chart of generating a drill route plan in accordance with an embodiment of the present invention;
FIG. 4 is a drill way planning plan view of an embodiment of the present invention;
FIG. 5 is a subsurface sectional view of a drill line according to an embodiment of the invention;
FIG. 6 is a mathematical schematic of the tilt calculation according to an embodiment of the present invention;
fig. 7 is a schematic diagram illustrating a process of calculating a tilt angle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar functions.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and to simplify the description, but are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and that the directional terms are used for purposes of illustration and are not to be construed as limiting, for example, because the disclosed embodiments of the present invention may be oriented in different directions, "lower" is not necessarily limited to a direction opposite to or coincident with the direction of gravity. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
Referring to fig. 1, there is shown a trenchless drilling system comprising a drilling apparatus and a guiding apparatus, wherein the drilling apparatus comprises a drilling machine 1 located on the ground and a drill bit 2 drilling under the ground, the guiding apparatus comprises a guide instrument 3, a carbon rod 4 arranged on the drill bit 2, and a fixed base point straightener 5, the guide instrument 3 is an intelligent guide instrument for precise positioning, and the fixed base point straightener 5 and the intelligent guide instrument can respectively receive a GPS signal of a satellite 6, and the fixed base point straightener 5 can transmit a signal to the guide instrument 3. The director 3 can also receive signals from a cloud server 8 via the network 7. The invention utilizes the fixed base point corrector 5 to improve the positioning precision by a field fixed base point correction method, and improves the traditional positioning precision by one order of magnitude.
Referring to fig. 2, the guide apparatus 3 includes an underground locator 31 and a surface locator 32, and the "connections" are all electrical connections as described below for the underground locator 31 and the surface locator 32. Wherein the underground locator 31 comprises the following modules: carbon-point magnetic field signal receiver 311 and underground carbon-point location signal processing module 312, carbon-point magnetic field signal receiver 331 can receive the magnetic field signal that carbon-point 4 sent, and carbon-point magnetic field signal receiver 311's output and underground carbon-point location signal processing module 312's input are connected, handle carbon-point magnetic field signal through underground carbon-point location signal processing module 312 to send ground locator 32.
The surface locator 32 includes a first GPS receiver 321, a differential data receiver 322, a drill pipe advancement parameter transmitter 323, a guide instrument control module 324, a GPS correction calculation module 325, a drill pipe advancement parameter calculation module 326, a drilling route planning and verification module 327, a network communication interface 328, and a human/machine interface/display module 329. The first GPS receiver 321 is capable of receiving GPS signals from satellites 6 and the outputs of the first GPS receiver 321 and the differential data receiver 322 are connected to inputs of a GPS correction computation module 325 to derive an accurate ground position. The input of the drill pipe advancement parameter transmitter 323, the output of the GPS correction calculation module 325, the input and output of the drill pipe advancement parameter calculation module 326, the output of the drilling route planning and verification module 327, and the input and output of the human-machine interface/display module 329 are all connected to the director control module 324. The input of the drilling route planning and verification module 327 is connected to the network 7 via a network communication interface 328.
The drill rod advancement parameter calculation module 326 generates the operating parameters of the current drill rod based on the current drill bit position and the planned route; the drilling route planning and verification module 327 helps the constructor to plan the drilling route before excavation; the human-computer interface/display module 329 is used for the operator to complete various operations and controls of the guide instrument.
The radix point corrector 5 comprises a second GPS receiver 51, a difference calculation module 52, a difference data transmitter 53 and a radix point position input module 54. The second GPS receiver 51 is capable of receiving GPS signals from the satellite 6, and the output terminals of the base position input module 54 and the second GPS receiver 51 are connected to the input terminal of the difference calculation module 52, and the base position input by the second GPS receiver 51 and the base position input module 54 is transferred to the difference calculation module 52 as two input variables, and the output terminal of the difference calculation module 52 is connected to the input terminal of the difference data transmitter 53. The differential data receiver 322 of the guide apparatus 3 and the differential data transmitter 53 of the fixed base point straightener 5 communicate wirelessly.
The fixed base point corrector 5 is thereby able to generate correction information by its own base point position and GPS position and transmit it to the differential data receiver 322 of the guide instrument 3 via the differential data transmitter 53. The GPS signal correction calculation module 325 of the guidance instrument 3 calculates the GPS signal correction of the first GPS receiver 321 from the correction information received by the differential data receiver 322, and transmits the calculated correction information to the guidance instrument control module 324. The base point of the fixed base point straightener 5 is an absolute GPS position and can be obtained using common measurement techniques. Once the GPS position of the base point is determined, the GPS positions of other positions are determined and are more accurate than the positions corrected by using the general GPS. Based on the precise position information, the operator (see the drill hand operating the drill 1 and the pilot hand operating the pilot 3 in fig. 1) can precisely control the advancement of the drill bit 2.
Based on this, the guidance instrument 3 can generate a drilling route map according to the requirements of the user, verify the drilling route map through the information stored in the cloud server 8, verify the existence of underground obstacles and select an optimal construction scheme by means of the geographic, geological and other big data information received from the cloud server 8. The drill pipe advance parameter transmitter 323 may then transmit the calculated current operating parameters to the driller for use. The guide instrument 3 can record the current position of the drill rod and relevant operation data to a database of the cloud server 8 for subsequent work according to the requirement of a guide hand.
Referring again to fig. 1, before construction, the constructor determines the starting point 101 and the end point 102 of the whole construction according to the construction requirement, and then selects and places the fixed base point straightener 5 as the base point between the positions as wide as possible and close to the starting point and the two points, and fixes the fixed base point straightener 5 on the stable bracket 55. During the whole construction process, the fixed base point straightener 5 avoids migration as much as possible. To acquire the precise GPS position coordinates, the fixed base point corrector 5 needs to input or automatically acquire the GPS position of the base point.
Three schemes are available for determining the base GPS position: 1) let the GPS of the base point converge automatically: a certain time is needed for convergence, the second GPS receiver 51 of the fixed base point corrector 5 can be started in advance several days before construction, and the coordinates collected in several days are averaged to be used as the fixed coordinates of the base point; 2) obtaining fixed coordinates of the base point by other general measurement methods, and inputting the fixed coordinates into the fixed base point straightener 5; 3) if the convergence time required by the solution 1 is to be shortened, the GPS of the base point may also use a correction service on the internet (which is needed to be available on the internet) to speed up the acquisition of the GPS coordinates of the base point. After the GPS coordinates of the base point are set, the guide instrument 3 has the function of accurate positioning on the ground.
If the pipeline to be constructed and laid is long, in order to ensure the correction accuracy, the fixed base point corrector 5 needs to be moved to a position close to the drill bit 2, and after the fixed base point corrector 5 is moved each time, the GPS position of the base point needs to be determined again according to the method.
If the drilling planned route L1 is planned, the drilling planned route L1 may be planned to be input to the navigation device 3 through the human-machine interface/display module 329, and may also be obtained from the backend cloud server 8 (if already existing). if the coordinates of the starting point of the planned route and the coordinates of the starting point of the construction are not identical, the two may be converted (translated) using the principle of differentiation. each time a new drill pipe is started, the navigation device will look for the position of the drill bit 2, i.e., the underground position where the carbon rod 4 is located, and collect data including the depth, inclination angle and other relevant operating parameters (temperature, pressure, etc. of the drill bit 2), and record the collected data to the cloud server 8.
If the planned drilling route L1 is not already available, the operator can use the drilling route planning and verification module 327 in the guide instrument 3 to plan the planned construction route, as shown in FIGS. 3 and 4, which includes the following steps:
1) firstly, establishing an operation project and establishing engineering requirement parameters which are mainly the inclination angle change in the unit length of the drill rod;
2) determining a starting point 101 and a terminal point 102;
3) the guiding hand corrects the collected GPS through the GPS correction calculation module 325 by using the fixed base point corrector 5 according to the ground route of the construction plan of the steps 1) and 2) and according to the first GPS receiver 321 of the guiding instrument 3 for some key points of the plane route, for example, the starting point 101 and the terminal point 102 start to collect the GPS position information of the key points from the starting point 101 in sequence, the key points are the places where the drilling path must pass, for example, a gas pipeline of a community must be connected to a main pipeline, and the nearest position where the main pipeline is located should be the key points; after the acquisition is finished, a three-dimensional guiding ground track is formed by the guiding plane track and the ground fluctuation information;
4) the guiding hand determines the underground guiding depth of each key point on the guiding ground track displayed by the guiding instrument 3, the guiding instrument generates the underground guiding track according to the depth of the key point and the installation requirement of the product (the installation requirement of the product is reflected in the curvature change in a centralized way, the bending change of each direction of the unit length is not more than a certain value, for example, the inclination angle change of each meter length is not more than a certain value), the mathematically accurate track can be obtained by the key point through a curve regression method, but the engineering is expressed in the form of the inclination angle change of each rod, the inclination angle list can be obtained through the calculation method of the inclination angle, and the specific method for obtaining the inclination angle list will be detailed below;
5) meanwhile, the guidance instrument 3 checks the underground guidance track through the underground facility information network drilling route planning and verification module 327 of the cloud server 8 to verify whether construction danger exists or not, and after the guidance track is ensured to be safe (the underground obstacle passes verification) and to meet the operation engineering requirements (such as maximum curvature in a planned route), the guidance instrument 3 generates an operation scheme of connecting a drill rod with a drill rod according to the guidance track, and the route planning is finished; if the verification of the underground obstacle is not passed or the operation engineering requires that the verification is not passed, adding, deleting/modifying the key point parameters and returning to the step 3); the underground obstacle verification refers to geography, terrain and underground facility verification.
In step 4) above, the pilot uses the human interface/display module 329 of the pilot 3 to activate the drilling route planning and verification module 327 to design the drilling route by determining the starting point 101, the ending point 102 and the key point (105) and by displaying a plan and a cross-section of the route map, which refers to the ground plane, also called the top plan view, or bird's eye view, which is a side view, to help the builder visualize the underground construction until a satisfactory drilling plan route L1 is obtained.
Based on the underground and ground location information, the drill pipe advance parameter calculation module 326 in the guide instrument 3 compares the planned drilling route L1 with the actual drilling route L2 to calculate the parameters (inclination angle) of the next pipe advance operation, and provides the parameters to the driller through the drill pipe advance parameter transmitter 323.
Referring to fig. 6 and 7, the inclination angle calculation method of the propulsion parameters by using the drill rod propulsion parameter calculation module 326 is based on the principle that three points can draw a circle passing through the three points, and the included angles between the tangent lines of the three points on the circle and the horizontal plane are the inclination angles of the drill rod passing through the points. The illustration is based on the construction path being mostly a straight line. If the construction route is a curve, and the circular plane defined by the three points may not be perpendicular to the ground plane, the resulting inclination angle needs to be projected to a plane perpendicular to the horizontal plane, and then the inclination angle required for construction is obtained.
Specifically, the method comprises the following steps:
1) initially, all corresponding ground key points 103 are converted into GPS coordinates in combination with the depth of each key point 103;
2) converting the GPS coordinates into geocentric coordinates;
3) the following calculations are made from the first keypoint 103 to the last third keypoint 103:
3.1) taking the current key point 103 and two subsequent key points (three points in total) thereof, and solving the circle of the three points;
3.2) converting the coordinates of the circle into the plane of the circle; as shown in fig. 6, there are three key points 103 in any consecutive order, and the circle center determined by the three key points 103 is O;
3.3) calculating and storing the inclination angle P of each key point 103 according to the triangle geometric principle, after the circle center O is determined, α angles can be calculated (by using a general analytic combination method) through the circle center O and any one key point 103 in the three key points 103, the inclination angle P of the drill rod can be calculated by knowing two angles (one is a right angle) and one side (the radius of a circle) through the obtained inclination angle P of the drill rod, the inclination angle P of the middle key point 103 is shown in FIG. 6, the arc length L between the current key point 103 and the next key point 103 is calculated and stored at the same time, and if the current key point 103 is the third to last point, the arc length between the two key points 103 is calculated;
4) calculating the following from the first key point 103 to the last key point 103, generating a plurality of dip angles for one key point 103 in the previous step, taking the average value as the dip angle P of the key point 103 and storing;
5) calculating the sum of all the saved arc lengths L to obtain the total length of the guide path;
6) determining the total number of the drill rods according to the length of the drill rods used by a user;
7) calculating the inclination angle of each rod, and dividing the inclination angle change of each two adjacent key points 103 by the number of drill rods used between the two key points 103 plus the inclination angle of the current key point 103;
8) listing the inclination angle of the drill rod and ending.
In the above step 3.2), the GPS coordinates of the three key points 103 are assumed to be (WGS84 standard format) (L)a1，lo1，A1)，(La2，lo2，A2)，(La3，lo3，A3) The following operations are performed:
1) the three keypoints 103 are set at the same height (here, at the height a of the first keypoint 103)1In this case), (L)a1，lo1，A1)，(La2，lo2，A1)，(La3，lo3，A1)；
2) The distance of each keypoint 103 from the first keypoint 103 is calculated using the GPS coordinates of the first step (see published GPS calculation methods) and is assumed to be D1，D2，D3Wherein D is1The distance of the first keypoint 103 from itself should be zero;
3) taking the distance of each keypoint 103 from the first keypoint 103 as the X coordinate and the GPS height of each keypoint 103 as Y, there are the following two-dimensional coordinates: (D)1，A1)，(D2，A2)，(D3，A3)；
4) Assuming the coordinate of center O is (a, b), the following equation set can be obtained:
(D1-a)2+(A1-b)2＝R2
(D2-a)2+(A2-b)2＝R2
(D3-a)2+(A3-b)2＝R2
the circle can be completely determined by calculating R, a, b.
After the circle is determined, the formula for calculating the horizontal inclination (angle coefficient) of the tangent line passing through one of the key points (x, y) is K ═ - (a-x)/(b-y) the formula for the inclination is P ═ arctan K1-P2)/180，P1And P2Two keys from the last of the three key points 103 forming a circleThe inclination of point 103.
The above method calculates the inclination angle change of the drill rod in the vertical direction, and the inclination angle change of the drill rod in the horizontal direction can be calculated by the same method, except that the change of the horizontal inclination angle needs to use two-dimensional coordinates projected to the ground. See mercator projection.
There is another parameter (inclination angle) calculation scheme, that is, the recorded drilling points are used as the key points 103, and the planned route is re-settled by combining with other unfinished key points 103.
Claims (5)
1. A method for calculating drill pipe advance parameters for a drilling system comprising a director (3), characterized by: the method comprises the following steps:
1) firstly, establishing an operation project and establishing engineering requirement parameters;
2) determining a starting point (101) and determining an end point (102);
3) according to the ground route of the construction plan of the steps 1) and 2), GPS position information collection is carried out on key points (103) of the plane route by using a guide instrument (3);
4) calculating the drill rod advancing parameters by using the GPS position information of the key points (103):
4.1) converting all ground key points (103) into GPS coordinates in combination with the depth of each key point (103);
4.2) converting the GPS coordinates into geocentric coordinates;
4.3) the following calculations are made from the first keypoint (103) to the last third-last keypoint (103):
4.3.1) taking the current key point (103) and two subsequent key points (103) and solving the circle of the three points;
4.3.2) converting the coordinates of the circle into the plane of the circle;
4.3.3) calculating and saving the inclination angle (P) of each key point (103) according to the triangle geometry principle, and simultaneously calculating and saving the arc length (L) between the current key point (103) and the next key point (103), and if the current key point (103) is the third-to-last point, calculating the arc length (L) between the two last key points (103);
4.4) calculating the following from the first key point (103) to the last key point (103), generating a plurality of dip angles for one key point (103) in the previous step, and taking the average value as the dip angle (P) of the key point (103) and storing the average value;
4.5) calculating the sum of all saved arc lengths (L) to obtain the total length of the guide path;
4.6) determining the total rod number of the drill rods according to the lengths of the used drill rods;
4.7) calculating the inclination angle of each drill rod, wherein the inclination angle is the inclination angle change of each two adjacent key points (103) divided by the number of drill rods used between the two key points (103) and the inclination angle of the current key point (103);
4.8) listing the inclination angle of the drill rod and ending.
2. The method for calculating the drill pipe advance parameter of the drilling system according to claim 1, wherein in step 4.3.2, the GPS coordinates of the three key points (103) are (L)a1，lo1，A1)，(La2，lo2，A2)，(La3，lo3，A3) The following operations are performed:
1) setting the three key points (103) at the same height to obtain the GPS coordinates of (L)a1，lo1，A1)，(La2，lo2，A1)，(La3，lo3，A1)；
2) Calculating the distance between each key point (103) of the three key points (103) and the first key point (103) by using the GPS coordinates in the step 1), and obtaining the distances D respectively1，D2，D3，D1＝0；
3) Taking the distance between each key point (103) and the first key point (103) as an X coordinate, and the GPS height of each key point (103) as a Y coordinate, obtaining the two-dimensional coordinates of the three key points (103): (D)1，A1)，(D2，A2)，(D3，A3)；
4) Assuming the coordinate of center O as (a, b), the following equation set is obtained:
(D1-a)2+(A1-b)2＝R2
(D2-a)2+(A2-b)2＝R2
(D3-a)2+(A3-b)2＝R2
calculating R, a, b, the circle is completely determined.
3. The method for calculating drill pipe advance parameters for a drilling system according to claim 2, wherein in step 4.3.3), after the circle is determined, the formula for calculating the horizontal inclination of the tangent line passing through one of the key points (103) is K ═ a-x)/(b-y), the coordinates of the key point (103) are (x, y), the formula for the inclination is P ═ arctan K, the formula for the arc length (L) is, L ═ pi R (P) and the formula for the arc length (L) is1-P2)/180，P1And P2The inclination angles of two key points (103) which are the reciprocal of the three key points (103) forming the circle are respectively.
4. A method of calculating drill pipe advance parameters for a drilling system according to any of claims 1 to 3, characterized by: the drilling system further comprises a fixed base point corrector (5), and in the step 2), the GPS position information collected by the guide instrument (3) is corrected by the fixed base point corrector (5).
5. The drill pipe propulsion parameter calculation method of a drilling system according to claim 4, wherein: the guide instrument (3) comprises a first GPS receiver (321), a differential data receiver (322) and a GPS correction calculation module (325), and the output ends of the first GPS receiver (321) and the differential data receiver (322) are also connected with the input end of the GPS correction calculation module (325); the fixed base point corrector (5) comprises a second GPS receiver (51), a difference calculation module (52), a difference data transmitter (53) capable of sending signals to a difference data receiver (322) of the guide instrument (3) and a base point position input module (54), wherein the output ends of the second GPS receiver (51) and the base point position input module (54) are connected to the input end of the difference calculation module (52), and the output end of the difference calculation module (52) is connected with the input end of the difference data transmitter (53).
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