The mine direction alignment instrument is an instrument based on inertial technology, which has high accuracy and automation, and meets the measurement requirements in coal mine. However, its high cost limits its application and promotion in coal mine. Therefore, it is urgent to find a low cost drilling directional equipment that can meet the accuracy requirements. Based on the above practical problems in production, a new type of mine direction alignment instrument based on MEMS technology is developed and the prototype test is carried out to check the indicators, so as to meet the actual needs of the project.

1.Composition of directionalignment system

The orientation and direction alignment instrument is mainly composed of two parts: north seeking system and tracking system. The block diagram is shown in Figure 1. The north finding system is mainly used to measure the attitude data (inclination and azimuth) between the instrument and the geographical North Pole (true north direction) in the static case, that is, to determine the attitude reference with the true north direction. The tracking system is mainly used to measure the attitude measurement data which changes with time after the instrument seeks north. The measuring instrument is placed on the guide rail of the drilling rig parallel to the drill pipe, and the attitude (inclination and azimuth) of the drilling rig is adjusted according to the preset value, and the opening directional operation can be completed when the preset value is reached.

2.Working principle of direction alignment instrument

2.1 Principle of the north finding system:

As shown in Figure 2, the direction of the Earth's rotation rate is parallel to the Earth's rotation axis. At the latitude L of the earth's surface, the angular velocity of the earth's rotation (e) can be decomposed into the horizontal component ON along the meridian Y direction and the vertical component Zn along the ground vertical line, whose expressions are (1) and (2) respectively.

A gyroscope is a sensor that measures the angular rate around its sensitive axis. Ideally, if the gyro is mounted vertically on the horizontal plane so that its sensitive axis Yg is parallel to the north (true north) in the geographic coordinates in the horizontal plane, the angular velocity W0 to which the gyro is sensitive is Wn of We in the horizontal direction. When the sensitive axis Yg of the gyroscope has an Angle of a in the horizontal plane counterclockwise direction and the true north direction, as shown in Figure 3, then the output We of the gyroscope is the projection Wg of the horizontal component of We on the sensitive axis of the gyroscope

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