Drilling hole wellbore trajectory measurement is important to coal mine gas management. Current trajectory measurement technology is magnetic surveys, which adopt three-axis accelerometers (inclinometers) and magnetometers to calculate the inclination and azimuth. However, this method is easy to be affected by magnetic minerals in coal mine. This paper proposed joint position method of drilling hole using micro-seismic events of drill breaking rock and MWD (Measure While Drilling) data. This paper establishes propagation model of micro-seismic signals in rock fragmentation. Micro-seismic events pick method adopts STA/LTA (Short Term Average/Long Term Average) and AIC (Akaike Information Criterion). Micro-seismic inversion position adopts newton iteration method. Location error of micro-seismic position method is analysed influence by P-wave velocity, SNR (Signal-to-Noise Ratio), sampling frequency in horizontal and vertical direction. Trajectory calculation method using MWD data adopt Average Angle Method and Minimum Curvature Method. Hole bottom location error of two trajectory calculation methods is analysed in horizontal and vertical direction. Based on error analysis of micro-seismic location method and hole trajectory calculation method, this paper proposed two new joint location methods using Kalman filtering and weight method. According to simulate results, the precision of weight method data fusion method is better than Kalman filter method in the all direction. Ideally, the positioning accuracy of the bottom of the drilled hole can be controlled within 1m, whose depth of drilling hole is about 500m. According simulate results, proposed method can effectively improve the positioning accuracy of borehole bottom. Research results in this paper provide a theoretical reference for the boreholes trajectory measurement and calculation for coal mines.

Tao Wang, Xuelian Dong, Lili Yan, Lusi Chen, Ziwei Tian, Jingwu Zhou. Joint position method of coal mines methane extraction borehole trajectory by fusing micro-seismic signal and MWD. Academic Journal of Architecture and Geotechnical Engineering (2024) Vol. 6, Issue 2: 51-64. https://doi.org/10.25236/AJAGE.2024.060210.

[1] Lou Z, Wang K, Kang M, et al. Plugging methods for underground gas extraction boreholes in coal seams: A review of processes, challenges and strategies [J]. Gas Science and Engineering, 2024, 122: 205225.

[2] Zheng C, Jiang B, Xue S, et al. Coalbed methane emissions and drainage methods in underground mining for mining safety and environmental benefits: A review [J]. Process Safety and Environmental Protection, 2019, 127:103-124.

[3] Yan B, Zhang X, Tang C, et al. A Random Forest-Based Method for Predicting Borehole Trajectories[J]. Mathematics, 2023, 11:1297-1311.

[4] Directional survey for 3D reservoir modelling [EB/OL]. https://petrowiki.spe.org/ Directional_ survey_for_3D_reservoir_modeling.

[5] Wei S, Liao X, Zhang H, et al. Recent Progress of Fluxgate Magnetic Sensors: Basic Research and Application[J]. Sensors, 2021, 21:1500-1518.

[6] Ningping Y, Jie Z, Xing J, et al. Status and Development of Directional Drilling Technology in Coal Mine[J]. Procedia Engineering, 2014, 73: 289-298.

[7] Qin M, Wang K, Pan K, et al. Analysis of signal characteristics from rock drilling based on vibration and acoustic sensor approaches[J]. Applied Acoustics, 2018, 140: 275-282.

[8] Wang X, Wang Q. Velocity estimating by optimizing micro-seismic observation system in complex terrain for underground illegal mining, Beijing, Virtual, China, 2021[C]. Aussino Academic Publishing House, 2021.

[9] Li N, Wang E, Ge M, et al. A nonlinear microseismic source location method based on Simplex method and its residual analysis [J]. Arabian Journal of Geoences, 2014, 7(11):4477-4486.

[10] Li N, Ge M, Wang E. Two types of multiple solutions for microseismic source location based on arrival-time-difference approach [J]. Natural Hazards, 2014, 73(2):829-847.

[11] Wang F, Xu G, Qu X, et al. Numerical simulation of microseismic wave propagation for underground gas storage: International Geophysical Conference, Qingdao, China, 17-20 April 2017, 2017[C].

[12] Giroux B. ttcrpy: A Python package for traveltime computation and raytracing [J]. SoftwareX, 2021, 16: 100834.

[13] Y. W, X. S, K. P. Relocating Mining Microseismic Earthquakes in a 3-D Velocity Model Using a Windowed Cross-Correlation Technique[J]. IEEE Access, 2020, 8: 37866-37878.

[14] Da Silva A A M, Novotny A A, Amad A A S, et al. Full-waveform reconstruction of micro-seismic events via topological derivative approach[J]. Journal of Computational Physics, 2024, 510: 113099.

[15] Wang F, Xu G, Qu X, et al. Numerical simulation of microseismic wave propagation for underground gas storage[C]. 2017 CGS/SEG International Geophysical Conference, Qingdao, China, 17-20 April 2017.

[16] Gomes V M, Santos M A C, Burgos R B, et al. Evaluation of the sensitivity of seismic inversion algorithms to different wavelets[J]. International Journal of Engineering Research and Applications, 2017, 06:59-73.

[17] Ciardelli C. Sensitivity kernels in seismic wave propagation: a simplified explanation for the banana-doughnut paradox[J]. European Journal of Physics, 2022, 43(4):45802.

[18] Julian B R, Gubbins D. Three-dimensional seismic ray tracing[J]. Journal of geophysics, 1977, 43:95-113.

[19] Karasözen E, Karasözen B. Earthquake location methods[J]. GEM - International Journal on Geomathematics, 2020,11(1):13.

[20] V I. Die berechnung der herdkoordinated eines nahbebens aus den dintrittszeiten der in einingen benachnbarten stationen aufgezeichneten P-oder P-wellen[J]. Gerlands Beitr Geophys, 1928,12(19):73-98.

[21] Thurber C H. Nonlinear earthquake location; theory and examples[J]. Bulletin of the Seismological Society of America, 1985, 75(3):779-790.

[22] Tang G. A general method for determination of earthquake parameters by computer[J]. Acta Seismologica Sinica, 1979, 1(2):186-196.

[23] Sambridge M, Gallagher K. Earthquake hypocenter location using genetic algorithms[J]. Bulletin of the Seismological Society of America, 1993,83(5):1467-1491.

[24] Klein K, Neira J. Nelder-Mead Simplex Optimization Routine for Large-Scale Problems: A Distributed Memory Implementation[J]. Computational economics, 2014,43(4):447-461.

[25] Fan S S, Zahara E. A hybrid simplex search and particle swarm optimization for unconstrained optimization[J]. European Journal of Operational Research, 2007,181(2):527-548.

[26] Allen R. Automatic phase pickers: Their present use and future prospects[J]. Bulletin of the Seismological Society of America, 1982,72(6B):S225-S242.

[27] Sleeman R, Eck T V. Robust automatic P-phase picking: an on-line implementation in the analysis of broadband seismogram recordings[J]. Physics of the Earth and Planetary Interiors, 1999,113(1-4):265-275.

[28] Takanami T, Kitagawa G. Estimation of the arrival times of seismic waves by multivariate time series model[J]. Annals of the Institute of Statistical Mathematics, 1991,43(3):407-433.

[29] Shang X, Li X, Morales-Esteban A. Enhancing micro-seismic P-phase arrival picking: EMD-cosine function-based denoising with an application to the AIC picker[J]. Journal of Applied Geophysics, 2018:S1969159069.

[30] Kirbas I, Peker M. Signal detection based on empirical mode decomposition and Teager–Kaiser energy operator and its application to P and S wave arrival time detection in seismic signal analysis[J]. Neural computing & applications, 2017,28(10):3035-3045.

[31] Ait Laasri E H, Akhouayri E, Agliz D, et al. Automatic detection and picking of P-wave arrival in locally stationary noise using cross-correlation[J]. Digital signal processing, 2014, 26: 87-100.

[32] Gholamy S, Javaherian A, Ghods A. Automatic detection of interfering seismic wavelets using fractal methods[J]. Journal of Geophysics and Engineering, 2008, 5(3):338-347.

[33] Romero J E, Titos M, Bueno Á, et al. APASVO: A free software tool for automatic P-phase picking and event detection in seismic traces[J]. Computers & Geosciences, 2016, 90: 213-220.

[34] Karamzadeh N, Javan Doloei G, Reza A M. Automatic Earthquake Signal Onset Picking Based on the Continuous Wavelet Transform[J]. IEEE Transactions on Geoscience and Remote Sensing, 2013, 51(5):2666-2674.

[35] Dai H, Macbeth C. Automatic picking of seismic arrivals in local earthquake data using an artificial neural network[J]. Geophysical Journal of the Royal Astronomical Society, 2010, 120(3):758-774.

[36] Liu H, Sun Z, Yin N K. Earthquake Detection STA/LTA[EB/OL]. https://cuseistut. readthedocs. io/en/latest/sta_lta/index.html.

[37] Wang H, Li M, Shang X. Current developments on micro-seismic data processing[J]. Journal of Natural Gas Science and Engineering, 2016, 32: 521-537.

[38] He X, Wang T, Wang X, et al. Fatigue behavior of direct laser deposited Ti-6.5Al-2Zr-1Mo-1V titanium alloy and its life distribution model[J]. Chinese Journal of Aeronautics, 2018, 31(11):2124-2135.

[39] Zhu S, Zhou F, Kang J, et al. Laboratory characterization of coal P-wave velocity variation during adsorption of methane under tri-axial stress condition [J]. Fuel, 2020,272:117698.

[40] Li X, Shang X, Morales-Esteban A, et al. Identifying P phase arrival of weak events: The Akaike Information Criterion picking application based on the Empirical Mode Decomposition[J]. Computers & Geosciences, 2017, 100:57-66.

[41] Calculation methods for directional survey[EB/OL]. https://petrowiki.spe.org/Calculation_ methods_ for_directional_survey.

[42] Pei Y, Biswas S, Fussell D S, et al. An Elementary Introduction to Kalman Filtering [J]. Communications of the ACM, 2019, 62:122-133.

[43] Wang X, Yan L, Deng G, et al. Prediction method and system of coal mine gas borehole trajectory driven by measurement data while drilling: 2023.12.22.