CN100392208C - Declinator used inertia measurement set integration device - Google Patents

Abstract

The invention relates to a inertia testing element of declinator, which is formed by back axle, X-axle accelerator base, Y-axle accelerator base, gyroscope signal interface, gyroscope back cover, insulated layer, insulated wiring post, sealing frame, cover, inertia front frame and front axle, wherein it can mount with one dual-axle power resonance gyroscope and two accelerators; the invention can confirm the orthogonality between the sensitive axles of two accelerators, and two sensitive axles of dual-axle power resonance gyroscope are parallel with the sensitive axles of two accelerators, to support accurate mounting reference of inertia element.

Description

A kind of Declinator used inertia measurement set integration device and elimination error approach

Technical field

The invention belongs to the inertia measurement field, relate to a kind of Declinator used inertia measurement set integration device, be applicable to the compact high precision well drilling slope level.

Background technology

In drilling measuring, require employed measuring apparatus in the restriction that the comparison strictness is arranged on the radial dimension: employed sleeve pipe, drilling rod are more little in cased well, and the space of leaving measuring apparatus for is more little, require more little to the radial dimension of measuring apparatus; In the small curve well, casing sidetracking small curve well particularly, the axial dimension of measuring apparatus also has very high requirement and restriction equally with radial dimension.Therefore, need to use special structure to solve the size restrictions problem.

In the deviational survey orientation system that adopts inertial technology, the high accuracy of inertia device is installed very important, this will have influence on the precision of inertia device to the external signal sensitivity, directly have influence on the certainty of measurement and the overall performance of system, so the installation of the high accuracy of inertia device is one of key issue of system.In modern gyroscopic survey system, inertia device generally adopts the strapdown layout, require the sensitive axes strict orthogonal of accelerometer, gyrostatic sensitive axes strict orthogonal, the sensitive axes of responsive unidirectional accelerometer is parallel with gyrostatic sensitive axes strictness, the sensitive axes of whole inertial measurement cluster is in a certain three-dimensional system of coordinate, makes that the power shaft misalignment of inertia device is as much as possible little.

The inclinometer of existing employing dynamically tuned gyro, DTG, its inertia device are discrete installations, are difficult for guaranteeing installation accuracy, and structure is not compact, and the precision of inclinometer is subjected to the influence of alignment error bigger.Therefore, for the inclinometer that adopts dynamically tuned gyro, DTG, design is the requisite measure that guarantees the inclinometer precision with the integrated inertia device erecting device that the inclinometer physical dimension is complementary.

Summary of the invention

The objective of the invention is: overcome the deficiencies in the prior art, a kind of Declinator used inertia measurement set integration device is provided, guaranteed the inertia device installation accuracy, satisfied the requirement of structure compactization.

Technical solution of the present invention is: a kind of Declinator used inertia measurement set integration device, it is characterized in that: comprise rear axle, be used to install the Y-axis accelerometer seat of Y-axis accelerometer, be used to install the X-axis accelerometer seat of X-axis accelerometer, the gyro signal interface, the gyro back cover, insulating layer, insulating terminal, seal closure, housing, coasting body front shroud and front axle, wherein rear axle links to each other with Y-axis accelerometer seat and is vertical mutually, Y-axis accelerometer seat links to each other with X-axis accelerometer seat and is vertical mutually, X-axis accelerometer seat links to each other with the gyro back cover and is vertical mutually, and the gyro signal interface is arranged in the gyro back cover; Rear axle, Y-axis accelerometer seat, X-axis accelerometer seat, gyro signal interface and the integrated processing of gyro back cover; Front axle is positioned at the rear end of coasting body front shroud, and the coasting body front shroud links to each other with front axle and be coaxial; Rear axle, Y-axis accelerometer seat, X-axis accelerometer seat, gyro back cover, seal closure, housing, coasting body front shroud and front axle are coaxial; Gyro back cover and seal closure are welded together by first seal weld; Housing is undertaken on seal closure with the coasting body front shroud, and by second seal weld seal closure, housing and coasting body front shroud is welded together; Insulating terminal and seal closure are one by the glass sintering close with the seal closure material behavior, the inner space that the dynamically tuned gyro, DTG shell is centered on is divided into two parts of isolation, first is used to install the dynamically tuned gyro, DTG signal processing circuit, insulating layer is the circuit mounting base, second portion is used to install gyrounit, gyrounit and the coaxial installation of housing charge into inert gas after installing, and the signal of telecommunication is drawn by the gyro signal interface.

The installed surface of described Y-axis accelerometer seat is vertical with the installed surface of X-axis accelerometer seat, guarantees the sensitive axes strict orthogonal of Y-axis accelerometer and X-axis accelerometer; The sensitive axes X of dynamically tuned gyro, DTG is parallel with the sensitive axes of X-axis accelerometer, and the sensitive axes Y of dynamically tuned gyro, DTG is parallel with the sensitive axes of Y-axis accelerometer.

Adopt above-mentioned a kind of Declinator used inertia measurement set integration device to eliminate the method for inertial measurement cluster constant error, the X-axis accelerometer that X-axis accelerometer seat is installed, Y-axis accelerometer and the dynamically tuned gyro, DTG that Y-axis accelerometer seat is installed rotate certain angle around rear axle and front axle, obtain the output quantity of rotating front and back dynamically tuned gyro, DTG and two positions of accelerometer, the two is subtracted each other, eliminate the normal value item in dynamically tuned gyro, DTG and the accelerometer error model.

Principle of the present invention is: the deviational survey system mainly is that pit shaft axis locus is determined at azimuth, the angle of slope according to each survey mark, when carrying out directed drilling, also need record the tool face azimuth at any time.

As shown in Figure 4, for obtaining azimuth, angle of slope and tool face azimuth, we choose two coordinate systems: geographic coordinate system (east northeast ground) XYZ and detector coordinates are xyz.Initial each corresponding axis of two coordinate systems overlaps each other, and at first XYZ system changes an azimuth A around Z axle negative sense, obtains x ₁y ₁z ₁System, secondly x ₁y ₁z ₁Around y ₁The negative sense of axle changes an angle of slope I and obtains x ₂y ₂z ₂System, last x ₂y ₂z ₂Around z ₂The negative sense of axle changes a tool face azimuth T and obtains x ₃y ₃z ₃System conveniently makes x for writing ₃y ₃z ₃It is xyz system.According to the relation of the relative rotation between each coordinate system of afore mentioned rules, can obtain the direction cosines battle array C between geographic coordinate system and the detector coordinates system _t ^dFor:

$C_t^d=\left[\begin{array}{ccc}\cos T\cos I\cos A-\sin A\sin T& -\cos T\cos I\sin A-\sin T\cos A& \mathrm{sniI}\cos T\\ \sin T\cos I\cos A+\sin A\cos T& -\sin T\cos I\sin A+\cos T\cos A& \sin T\sin I\\ -\sin I\cos A& \sin I\sin A& \cos I\end{array}\right]---\left(1\right)$

Earth rate Ω and gravity G are known to be at component Ω, the G of geographic coordinate system XYZ:

$\stackrel{\‾}{\mathrm{\Ω}}=\left[\begin{array}{c}{\mathrm{\ω}}_X\\ {\mathrm{\ω}}_Y\\ {\mathrm{\ω}}_Y\end{array}\right]=\left[\begin{array}{c}{\mathrm{\ω}}_{\mathrm{EH}}\\ 0\\ {\mathrm{\ω}}_{\mathrm{EV}}\end{array}\right]$ $\stackrel{\‾}{G}=\left[\begin{array}{c}{g}_X\\ g_Y\\ g_Z\end{array}\right]=\left[\begin{array}{c}0\\ 0\\ g\end{array}\right]---\left(2\right)$

In the formula

ω _EH=Ω cos Ф-earth rate is in the horizontal component of geographic coordinate system XYZ;

ω _EV=Ω sin Ф-earth rate is in the vertical component of geographic coordinate system XYZ.

Ф is a local latitude in the formula.

Earth rate Ω and gravity G are that component and its component on geographic coordinate system XYZ on the xyz has following relation at probe:

$\left[\begin{array}{c}{\mathrm{\ω}}_x\\ {\mathrm{\ω}}_y\\ {\mathrm{\ω}}_z\end{array}\right]=C_t^d\stackrel{\‾}{\mathrm{\Ω}}$ $\left[\begin{array}{c}{a}_x\\ a_y\\ a_z\end{array}\right]=C_t^d\stackrel{\‾}{G}---\left(3\right)$

ω wherein _x, ω _y, ω _zFor earth rate Ω is a component on the xyz at probe; a _x, a _y, a _zω _zFor gravity G is a component on the xyz at probe.

Through type (1), (2), (3) can get the component that Ω and G fasten at probe:

a _x＝gcosTsinI (4)

a _y＝gsinTsinI (5)

a _z＝gcosI (6)

ω _x＝ω _EH(cosAcosTcosI-sinAsinT)+ω _EVcosTsinI (7)

ω _y＝ω _EH(cosAsinTcosI+sinAcosT)+ω _EVsinTsinI (8)

ω _z＝-ω _EHcosAsinI+ω _EVcosI (9)

Can derive the expression formula of A, I, T by formula (4)-(8).

Get by formula (7) * sinT-formula (8) * cosT:

ω _xsinT-ω _ycosT＝-ω _EHsinA

So $\sin A=\frac{-{\mathrm{\ω}}_x\sin T+{\mathrm{\ω}}_y\cos T}{{\mathrm{\ω}}_{\mathrm{EH}}}---\left(10\right)$

By formula (4) and (5) as can be known:

$\cos T=\frac{a_x}{g\sin I}---\left(11\right)$

$\sin T=\frac{a_y}{g\sin I}---\left(12\right)$

With formula (11), (12) substitution formula (10) and put in order:

$\sin A=\frac{a_x{\mathrm{\ω}}_y-a_y{\mathrm{\ω}}_x}{g{\mathrm{\ω}}_{\mathrm{EH}}\sin I}---\left(13\right)$

Equally, formula (7) * cosT+ formula (8) * sinT gets:

ω _xcosT+ω _ysinT＝ω _EHcosAcosI+ω _EVsinI

So $\cos A=\frac{{\mathrm{\ω}}_x\cos T+{\mathrm{\ω}}_y\sin T-{\mathrm{\ω}}_{\mathrm{EV}}\sin I}{{\mathrm{\ω}}_{\mathrm{EH}}\cos I}$

$=\frac{{\mathrm{\α}}_x{\mathrm{\ω}}_x+{\mathrm{\α}}_y{\mathrm{\ω}}_y-g{\mathrm{\ω}}_{\mathrm{EV}}{\sin }^{2}I}{g{\mathrm{\ω}}_{\mathrm{EH}}\sin I\cos I}---\left(14\right)$

Cause $\tan A=\frac{\sin A}{\cos A}$

Formula (13), (14) substitution following formula are got:

$\tan A=\frac{(a_x{\mathrm{\ω}}_y-a_y{\mathrm{\ω}}_x)\cos I}{a_x{\mathrm{\ω}}_x+a_y{\mathrm{\ω}}_y-g{\mathrm{\ω}}_{\mathrm{EV}}{\sin }^{2}I}$

$A=\arctan \frac{(a_x{\mathrm{\ω}}_y-a_y{\mathrm{\ω}}_x)\cos I}{a_x{\mathrm{\ω}}_x+a_y{\mathrm{\ω}}_y-g{\mathrm{\ω}}_{\mathrm{EV}}{\sin }^{2}I}---\left(15\right)$

Get by formula (11) and formula (12):

$T=\arctan \frac{a_y}{a_x}---\left(16\right)$

By formula (4) ²+ formula (5) ²:

$a_x^2+a_y^2={\mathrm{<figure-callout\; id="2"\; label="g"\; filenames="C20061011252500112.png,C20061011252500113.png"\; state="\{\{state\}\}">g</figure-callout>}}^2{\sin }^{2}I$

So $\sin I=\frac{1}{g}\sqrt{a_x^2+a_y^2}$

$I=\arcsin \left(\frac{1}{g}\sqrt{{\mathrm{\&alpha;}}_x^2+{\mathrm{\&alpha;}}_y^2}\right)---\left(17\right)$

As seen, as long as record along the ω on the detector coordinates system axle _x, ω _y, a _x, a _yBut the latitude of four parameters and given locality is tried to achieve azimuth A, angle of slope I and the tool face azimuth T of probe with regard to through type (15), (16), (17).

So ω _x, ω _y, a _x, a _yAccurate measurement be related to the accurate measurement of azimuth A, angle of slope I and tool face azimuth T, and accelerometer and gyrostatic alignment error all can be to ω _x, ω _y, a _x, a _yAccurate measurement bring error.Therefore in order accurately to obtain azimuth A, angle of slope I and tool face azimuth T, must reduce accelerometer and gyrostatic alignment error as far as possible.

The present invention's advantage compared with prior art is:

(1) the quadrature degree of inertia device sensitive axes, parallelism are identical with the precision magnitude of machining, are micron order, thereby the high accuracy that guarantees inertia device is installed.

(2) the integral structure compactness of dynamically tuned gyro, DTG shell and accelerometer seat, gyroscope and accelerometer are installed compactness, are suitable for well drilling slope level and use.

(3) will install certain angle of rotation, obtain the output quantity that gyroscope and accelerometer rotate former and later two positions, the two will be subtracted each other, can eliminate the normal value item in gyroscope and the accelerometer error model.

Description of drawings

Fig. 1 is a sectional drawing of the present invention;

Fig. 2 does not install the three-dimensional structure schematic diagram of accelerometer for the present invention;

Fig. 3 installs schematic three dimensional views behind the accelerometer for the present invention;

Fig. 4 is a deviational survey coordinate transform schematic diagram.

The specific embodiment

As shown in Figure 1, the present invention is made up of rear axle 1, Y-axis accelerometer seat 2, X-axis accelerometer seat 3, gyro signal interface 4, gyro back cover 5, insulating layer 6, insulating terminal 7, seal closure 8, housing 9, coasting body front shroud 10 and front axle 11, wherein rear axle 1 links to each other with Y-axis accelerometer seat 2 and is vertical mutually, Y-axis accelerometer seat 2 links to each other with X-axis accelerometer seat 3 and is vertical mutually, X-axis accelerometer seat 3 links to each other with gyro back cover 5 and is vertical mutually, and gyro signal interface 4 is arranged in gyro back cover 5; Rear axle 1, Y-axis accelerometer seat 2, X-axis accelerometer seat 3, gyro signal interface 4 and the 5 integrated processing of gyro back cover; Front axle 11 is positioned at the rear end of coasting body front shroud 10, and coasting body front shroud 10 links to each other with front axle 11 and be coaxial.

With insulating terminal 7 together, by first seal weld 12 gyro back cover 5, seal closure 8 are sealed then by the glass close and seal closure 8 sintering with seal closure 8 material behaviors; And then seal closure 8 and coasting body front shroud 10 are accepted by housing 9, and by second seal weld 13 seal closure 8, housing 9 and coasting body front shroud 10 are welded together, gyro back cover 5, seal closure 8, housing 9, coasting body front shroud 10 are formed the dynamically tuned gyro, DTG shells.

Insulating terminal 7 by the glass close and seal closure 8 sintering with seal closure 8 material behaviors together after, the inner space that dynamically tuned gyro, DTG shell 16 is centered on is divided into strict two parts of isolating, in first, the dynamically tuned gyro, DTG signal processing circuit is installed on the insulating layer 6, in second portion with gyrounit and housing 9 coaxial installations, charge into inert gas after the gyrounit installation, gyroscope signal is drawn by gyro signal interface 4, so far finish gyrostatic installation.

As shown in Figure 2, be the three-dimensional signal that apparatus of the present invention are not installed accelerometer, wherein 16 is mounted dynamically tuned gyro, DTG shell.

As shown in Figure 3, be installed to X-axis accelerometer 15 on the X-axis accelerometer seat 3, Y-axis accelerometer 14 is installed on the Y-axis accelerometer seat 2, forms incorporate coasting body with mounted dynamically tuned gyro, DTG.

As shown in Figure 3, the installation accuracy of inertia assembly is guaranteed by the machining accuracy of integral structure in this device, guarantee that promptly the installed surface of X-axis accelerometer seat 3, the installed surface of Y-axis accelerometer seat 2 have very high verticality, double-shaft power tuned gyroscope instrument shell 16 and X-axis accelerometer seat 3, Y-axis accelerometer seat 2 and front axle 11, rear axle 1 are coaxial, the sensitive axes X of dynamically tuned gyro, DTG is parallel with the sensitive axes strictness of X-axis accelerometer 15, and the sensitive axes Y of dynamically tuned gyro, DTG is parallel with the sensitive axes strictness of Y-axis accelerometer 14.

The content that is not described in detail in the manual of the present invention belongs to this area professional and technical personnel's known prior art.

Claims (3)

1. Declinator used inertia measurement set integration device, it is characterized in that: comprise rear axle (1), be used to install the Y-axis accelerometer seat (2) of Y-axis accelerometer, be used to install the X-axis accelerometer seat (3) of X-axis accelerometer, gyro signal interface (4), gyro back cover (5), insulating layer (6), insulating terminal (7), seal closure (8), housing (9), coasting body front shroud (10) and front axle (11), wherein rear axle (1) links to each other with Y-axis accelerometer seat (2) and is vertical mutually, Y-axis accelerometer seat (2) links to each other with X-axis accelerometer seat (3) and is vertical mutually, X-axis accelerometer seat (3) links to each other with gyro back cover (5) and is vertical mutually, and gyro signal interface (4) is arranged in gyro back cover (5); Rear axle (1), Y-axis accelerometer seat (2), X-axis accelerometer seat (3), gyro signal interface (4) and the integrated processing of gyro back cover (5); Front axle (11) is positioned at the rear end of coasting body front shroud (10), and coasting body front shroud (10) links to each other with front axle (11) and be coaxial; Rear axle (1), Y-axis accelerometer seat (2), X-axis accelerometer seat (3), gyro back cover (5), seal closure (8), housing (9), coasting body front shroud (10) and front axle (11) are coaxial; Gyro back cover (5) welds together with seal closure (8); Housing (9) is undertaken on seal closure (8) with coasting body front shroud (10), and seal closure (8), housing (9) and coasting body front shroud (10) are welded together; Insulating terminal (7) is one with seal closure (8) by the glass sintering close with seal closure (8) material behavior, the inner space that the dynamically tuned gyro, DTG shell is centered on is divided into two parts of isolation, first is used to install the dynamically tuned gyro, DTG signal processing circuit, insulating layer (6) is the circuit mounting base, second portion is used to install gyrounit, gyrounit and the coaxial installation of housing (9) charge into inert gas after installing, and the signal of telecommunication is drawn by gyro signal interface (4).

2. a kind of Declinator used inertia measurement set integration device according to claim 1, it is characterized in that: the installed surface of described Y-axis accelerometer seat (2) is vertical with the installed surface of X-axis accelerometer seat (3), guarantees the sensitive axes strict orthogonal of Y-axis accelerometer and X-axis accelerometer; The sensitive axes X of dynamically tuned gyro, DTG is parallel with the sensitive axes of X-axis accelerometer, and the sensitive axes Y of dynamically tuned gyro, DTG is parallel with the sensitive axes of Y-axis accelerometer.

3. adopt the described a kind of Declinator used inertia measurement set integration device of claim 1 to eliminate the method for inertial measurement cluster constant error, it is characterized in that: Y-axis accelerometer and dynamically tuned gyro, DTG that the X-axis accelerometer that described X-axis accelerometer seat (3) is installed, Y-axis accelerometer seat (2) are installed rotate certain angle around rear axle (1) and front axle (11), obtain the output quantity of rotating front and back dynamically tuned gyro, DTG and two positions of accelerometer, the two is subtracted each other, eliminate the normal value item in dynamically tuned gyro, DTG and the accelerometer error model.

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