CN100489459C - Strapdown inertial combined measurement controller adapted to whole-optical fiber digital slope level - Google Patents

Abstract

The present invention discloses a strapdown inertial combination measurement control device applicable to all-fibre digital clinometer, it is used for measuring well course of oil well and gas well, in particular it is applicable to conventional measurement with line and measurement while drilling. Said control device adopts strapdown inertial navigation principle, and utilizes main navigation system formed from optical-fibre gyroscope and anti-vibration accelerometer, under the condition of different working environments and measurement accuracy requirements respectively utilizes several external information of logging cable rope length, flux-gate sensor and zero speed and combines kalman filter so as to make system error estimation and correction of main inertial navigation system, and can limit error diffusion of inertial navigation system and form a high-accuracy combination inertial measurement instrument.

Description

Strapdown inertial combined measurement control device suitable for all-fiber digital inclinometer

Technical Field

The invention relates to an information processing control device for improving the measurement precision of an all-fiber digital inclinometer, in particular to a strapdown inertial combination measurement control device which can effectively improve the measurement precision of the all-fiber digital inclinometer during long-time work by utilizing sensing information acquired by external multiple sensors and inertial information acquired by a fiber-optic gyroscope to perform information fusion processing.

Background

As petroleum resources are depleted, the difficulty of recovery is greater. In the process of oil drilling and production, a high-precision inclination measuring instrument capable of accurately measuring borehole trajectory parameters is urgently needed to provide reliable design and development information for industrial departments. Especially for ultra-deep wells, when a deep high pressure formation blowout event occurs, it is necessary to drill relief wells according to an accurate well bore trajectory to terminate the blowout. In addition, the development of modern drilling and production technology realizes Measurement While Drilling (MWD), and an ideal inclinometer can monitor and display the position of a drill bit in real time in the drilling process of the drill bit so as to facilitate an operator to adjust the drill bit in time and enable the drill bit to reach a target area according to a pre-designed track. This requires highly accurate borehole trajectory measurement instruments.

Currently, the inclinometer used in the petroleum industry mainly uses a fluxgate sensor or a mechanical gyroscope as an angular velocity sensor and is combined with an accelerometer to measure the azimuth angle and the inclination angle of the borehole. The fluxgate inclinometer has the advantages of simple structure, low price and stable performance, but the fluxgate inclinometer cannot realize borehole trajectory measurement of a measured oil well with magnetic interference; the mechanical gyro inclinometer can make up for the defect, but the inherent rotating mechanism in the mechanical gyro has the defects of complex structure, easy damage, poor vibration resistance, large drift and the like.

The all-fiber digital inclinometer is a borehole trajectory measuring instrument based on a fiber-optic gyroscope strapdown inertial measurement principle, and the measurement accuracy of the inclinometer under a long-time working environment is low due to the fact that the inertial measurement error formed by a fiber-optic gyroscope and an accelerometer is increased along with the increase of time, and the requirement of high-accuracy measurement on the long time in actual use of oil logging is difficult to meet. The invention provides a strapdown inertial combined measurement control device suitable for an all-fiber digital inclinometer, which has the advantage of high precision in a short time according to an inertial measurement mode and combines the actual working environment and working conditions of petroleum and natural gas logging operation.

Disclosure of Invention

The invention relates to a strapdown inertial combination measurement control device suitable for an all-fiber digital inclinometer, which is characterized in that fluxgate measurement information, cable length information during wired logging and zero-speed information during the stopping of a downhole probe are respectively compared with attitude information and speed information of the downhole probe output by a strapdown inertial measurement unit to obtain a difference signal; and then, the difference signal is used as the observed quantity of the KALMAN filter to perform data fusion on various measurement information to obtain a compensation signal, and the compensation signal is used for estimating and online correcting error information generated by the strapdown inertial measurement unit and limiting error divergence of the strapdown inertial measurement unit, so that high-precision measurement of long-time work of the all-fiber digital inclinometer is realized.

The invention relates to a strapdown inertial combination measurement control device suitable for an all-fiber digital inclinometer, which comprises:

a computer for storing an inertia combination measurement task control program;

the optical fiber gyroscope is used for inputting angular speed information;

an accelerometer for inputting specific force information;

a fluxgate for inputting geomagnetic component information;

the downhole probe is used for inputting zero-speed correction information;

the counter is used for inputting cable length information and is arranged on the optical cable winch, one end of the optical cable is connected to the optical cable winch, and the other end of the optical cable is fixed on the underground exploring tube; further comprising:

a strapdown inertia measuring unit, a fluxgate measuring unit, an optical cable running speed measuring unit, a Kalman filter, an information comparison A unit, an information comparison B unit and an information comparison C unit,

the strapdown inertial measurement unit is firstly connectedReceiving A) a lower well pipe detector body coordinate system O output by the optical fiber gyroscope_bX_bY_bZ_bAngular velocity information of the lower part; and

B) downhole pipe sounding machine body coordinate system O output by accelerometer_bX_bY_bZ_bSpecific force information of; then to

After the angular velocity information and the specific force information are processed by dead reckoning, C) velocity information V of the underground exploring tube is output_x、V_y、V_z(ii) a And

D) azimuth angle psi, roll angle phi and inclination angle theta of the attitude information of the downhole exploring tube; finally, the

E) the speed information V_x、V_y、V_zThe information is output to the information comparison B unit and the information comparison C unit;

outputting the F) posture information to an information comparison A unit;

the fluxgate measurement unit firstly receives A) a downhole pipe-exploring machine body coordinate system O output by the fluxgate assembly_bX_bY_bZ_bGeomagnetic component information of the lower earth; and

B) downhole pipe-exploring machine body coordinate system O output by accelerometer_bX_bY_bZ_bSpecific force information of; then to

The geomagnetic component information and the specific force information are calculated by a fluxgate measurement unit, and the calculated azimuth angle relative to magnetic north is converted into an azimuth angle psi relative to true north_cAnd then outputting the azimuth psi of the attitude information of the underground exploring tube_cTransverse roll angle phi_cAngle of inclination theta_c(ii) a Finally, the

Outputting the C) attitude information to an information comparison A unit;

the optical cable running speed measuring unit obtains the length increment of the optical cable in unit time by measuring with a counter, thereby obtainingWhen the underground exploring tube operates, the coordinate system O of the body is adopted_bX_bY_bZ_bVelocity information V of_xc、V_yc、V_zc；

The Kalman filter receives

A) Attitude difference output by the information comparison A unit <math> <mrow> <msub> <mi>Z</mi> <mi>KA</mi> </msub> <mo>=</mo> <mrow> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mi>&psi;</mi> <mo>-</mo> <msub> <mi>&psi;</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&theta;</mi> <mo>-</mo> <msub> <mi>&theta;</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&phi;</mi> <mo>-</mo> <msub> <mi>&phi;</mi> <mi>c</mi> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow> </mrow></math> And

B) speed difference output by information comparison B unit $Z_{\mathrm{KB}}=\left[\begin{array}{c}{V}_x-V_{\mathrm{xc}}\\ V_y-V_{\mathrm{yc}}\\ V_z-V_{\mathrm{zc}}\end{array}\right]$ And

C) speed difference output by information comparison C unit $Z_{\mathrm{KC}}=\left[\begin{array}{c}{V}_x-0\\ V_y-0\\ V_z-0\end{array}\right],$

Data fusion of received information by using discrete Kalman filter to realize state variable

X＝[δr_x，δr_y，δr_z，δv_x，δv_y，δv_z，η_x，η_y，η_z，δf_x，δf_y，δf_z，δω_x，δω_y，δω_z]Optimal estimation, online error compensation is carried out on the strapdown inertial measurement according to the estimated state variable, and compensated down-hole probe attitude information is output <math> <mrow> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <msub> <mi>&psi;</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>&theta;</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>&phi;</mi> <mn>0</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mrow> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mi>&psi;</mi> <mo>-</mo> <msub> <mi>&eta;</mi> <mi>x</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&theta;</mi> <mo>-</mo> <msub> <mi>&eta;</mi> <mi>y</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&phi;</mi> <mo>-</mo> <msub> <mi>&eta;</mi> <mi>z</mi> </msub> </mtd> </mtr> </mtable> </mfenced> </mrow> </mrow></math> Displaying an interface to the computer;

the information comparison A unit is used for completing the azimuth angle psi, the roll angle phi and the inclination angle theta of the attitude information of the downhole exploring tube output by the strapdown inertial measurement and the azimuth angle psi of the attitude information of the downhole exploring tube output by the fluxgate measurement_cTransverse roll angle phi_cAngle of inclination theta_cSubtracting the output attitude difference <math> <mrow> <msub> <mi>Z</mi> <mi>KA</mi> </msub> <mo>=</mo> <mrow> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mi>&psi;</mi> <mo>-</mo> <msub> <mi>&psi;</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&theta;</mi> <mo>-</mo> <msub> <mi>&theta;</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&phi;</mi> <mo>-</mo> <msub> <mi>&phi;</mi> <mi>c</mi> </msub> </mtd> </mtr> </mtable> </mfenced> </mrow> </mrow></math> Giving a Kalman filter;

the information comparison B unit is used for finishing the speed information V of the downhole probe output by the strapdown inertial measurement unit_x、V_y、V_zAnd the speed information V output by the optical cable movement speed measuring unit_xc、V_yc、V_zcSubtracted output speed difference $Z_{\mathrm{KB}}=\left[\begin{array}{c}{V}_x-V_{\mathrm{xc}}\\ V_y-V_{\mathrm{yc}}\\ V_z-V_{\mathrm{zc}}\end{array}\right]$ Giving a Kalman filter;

the information comparison C unit is used for finishing the speed information V of the downhole probe output by the strapdown inertial measurement unit_x、V_y、V_zSubtracting the zero speed information output when the downhole exploring tube is static to output a speed difference value $Z_{\mathrm{KC}}=\left[\begin{array}{c}{V}_x-0\\ V_y-0\\ V_z-0\end{array}\right]$ Giving the Kalman filter.

The strapdown inertia combination measurement control device is provided with a first measurement working mode of a strapdown inertia measurement unit and a cable length, or a second measurement working mode of the strapdown inertia measurement unit and zero-speed correction, or a third measurement working mode of the strapdown inertia measurement unit and a fluxgate measurement unit, or a fourth measurement working mode of the strapdown inertia measurement unit and the cable length and zero-speed correction and the fluxgate measurement unit.

The strapdown inertial combination measurement control device has the advantages that: (1) the flexible switching of multiple measurement modes is realized, and the operation is convenient; (2) the use of multiple measurement modes provides a wide use space for the inclinometer; (3) the use reliability of the inclinometer is improved by using the multiple sensor assemblies simultaneously; (4) the multi-sensor assembly is subjected to information fusion, so that the measurement precision of the inclinometer can be effectively improved, a high-precision combined measurement system can be realized under the condition of using moderate-precision inertial measurement devices (a fiber optic gyroscope and an accelerometer), and the processing cost of the inclinometer is reduced.

Drawings

FIG. 1 is a block diagram of the strapdown inertial measurement unit of the present invention.

Fig. 2 is a block diagram of the structure of the system for switching information measurement into cable length information and strapdown inertial measurement.

FIG. 3 is a block diagram of a zero-speed information and strapdown inertial measurement system when information measurement is switched to downhole probe stopping.

Fig. 4 is a block diagram of a configuration of an information measurement switching fluxgate and strapdown inertial measurement system.

Fig. 5 is a schematic diagram of a main control interface of the strapdown inertial measurement unit.

Detailed Description

The present invention will be described in further detail below with reference to the attached drawings.

The invention relates to a strapdown inertial combination measurement control device suitable for an all-fiber digital inclinometer, which is used for estimating relevant errors of a strapdown inertial combination, correcting and compensating after information comparison of attitude information and speed information output by a strapdown inertial measurement unit with magnetic attitude information output by a fluxgate measurement unit, speed information of movement of an optical cable winch and zero-speed information when a downhole probe pipe is static and Kalman filtering processing of a difference value output by the information comparison. And the corrected and compensated strapdown inertial measurement unit outputs the attitude information to a computer for accurate borehole trajectory drawing and display.

The all-fiber digital inclinometer consists of a known computer, a strapdown inertia combination measurement control program, a signal collector, an optical cable winch, a derrick and a downhole exploring tube, wherein the strapdown inertia combination measurement control program is stored in a memory of the computer, the signal collector is installed on a main board slot of the computer and is in wired connection with the optical cable winch, one end of an optical cable on the optical cable winch is connected with the downhole exploring tube, and the optical cable slides on the derrick to put the downhole exploring tube into a borehole.

Referring to fig. 1, the strapdown inertial measurement control device of the present invention includes a strapdown inertial measurement unit, a fluxgate measurement unit, an optical cable running speed measurement unit, a kalman filter, three information comparison modules (information comparison a, information comparison B, and information comparison C), and a zero-speed correction module (information when a downhole sonde is stationary), and functions that can be realized by each part will be described below.

One, strapdown inertial measurement

The inertia measurement is divided into platform type inertia measurement and strap-down type inertia measurement, and the strap-down type inertia measurement is an inertia measurement mode that a gyroscope and an accelerometer are directly and fixedly connected on a machine body. Strapdown inertial measurement is a measurement mode that is performed by replacing a physical platform in platform-type inertial measurement with a mathematical platform. The strapdown inertial measurement has the advantages of simple mechanical structure, small size and low relative cost, but the gyroscope and the accelerometer are directly and fixedly connected on a machine body, so that the input dynamic range of the gyroscope and the accelerometer is large, higher requirements are put forward on using the appropriate gyroscope and accelerometer, and a mathematical platform is selected to replace a physical platform to have higher requirements on a computer for data processing.

In the invention, a strapdown inertial measurement unit firstly receives A) a down-hole pipe detector body coordinate system O output by a fiber-optic gyroscope_bX_bY_bZ_bAngular velocity information of the lower part; and B) a downhole probe body coordinate system O output by the accelerometer_bX_bY_bZ_bSpecific force information of; then after the angular velocity information and the specific force information are processed by dead reckoning, outputting C) speed information V of the underground exploring tube_x、V_y、V_z(ii) a And D) azimuth angle psi, roll angle phi and inclination angle theta of the attitude information of the downhole exploring tube; finally, E) the speed information V_x、V_y、V_zOutput to the information comparison B unit and the information comparison C unit; outputting the F) posture information to an information comparison A unit.

The state variable X output by the Kalman filter is used for compensating errors generated by the strapdown inertial measurement unit on line, and the compensated output representing the attitude information of the underground exploring tube is an azimuth angle psi₀Transverse roll angle phi₀Angle of inclination theta₀. And the attitude information is output to a computer display interface (shown in figure 5) for drawing display (borehole trajectory drawing) so as to facilitate the real-time monitoring of an operator.

The vertical well depth calculating unit is used for calculating the vertical well depth of the well and outputting well depth parameters to a computer display interface for display so as to facilitate real-time monitoring of an operator. The well depth calculation unit calculates the well depth by receiving the cable length information and the inclination angle theta of the downhole probe₀The cosine of the measured point is multiplied to obtain the vertical well depth of the measured point.

Second, fluxgate measurement

The fluxgate phenomenon is a ubiquitous electromagnetic induction phenomenon, is an instrument for measuring a magnetic field by using the magnetic saturation characteristic of a high-permeability material in a sensor coil system, is one of the most widely used weak magnetic measuring instruments, and has a measuring range of 10^-12～10^-3T, the instrument has the advantages of simple structure, small volume, light weight, low power consumption, good shock resistance, wide measurement range, high sensitivity, high resolution and good stability, and is suitable for measuring a constant magnetic field or a slowly-changing magnetic field.

In the present invention, the fluxgate assembly includes three orthogonally disposed fluxgates, i.e., an X-axis fluxgate, a Y-axis fluxgate and a Z-axis fluxgate.

In the invention, the fluxgate measurement unit firstly receives A) a down-hole pipe-exploring machine body coordinate system O output by the fluxgate assembly_bX_bY_bZ_bGeomagnetic component information of the lower earth; and B) a downhole probe body coordinate system O output by the accelerometer_bX_bY_bZ_bSpecific force information of; then flux gate measurement calculation is performed on the geomagnetic component information and the specific force information, and the calculated azimuth angle relative to magnetic north is converted into an azimuth angle psi relative to true north_cThen, the azimuth psi of the attitude information of the underground exploring tube is output_cTransverse roll angle phi_cAngle of inclination theta_c(ii) a And finally, outputting the attitude information of the C) to an information comparison A unit.

Third, the running speed of the optical cable

One end of the optical cable is connected to the optical cable winch, and the other end of the optical cable is fixed to the underground exploring tube. In the invention, the optical cable running speed measuring unit obtains the optical cable length increment in unit time by measuring with a counter, thereby obtaining a body coordinate system O of the downhole exploring tube during running_bX_bY_bZ_bVelocity information V of_xc、V_yc、V_zc。

The all-fiber digital inclinometer relates to two coordinate systems in the measurement process, one is a local geographic coordinate system O_tX_tY_tZ_tAnd one is a coordinate system O of the pipe detector body_bX_bY_bZ_b. The two coordinate systems have a coordinate conversion relationship of $\left[\begin{array}{c}{x}_b\\ y_b\\ z_b\end{array}\right]=C_t^b\left[\begin{array}{c}{x}_t\\ y_t\\ z_t\end{array}\right],$

A coordinate transformation matrix is represented. By means of this coordinate transformation matrixCan be with going down well sounding pipe machine body coordinate system O_bX_bY_bZ_bConverting the running speed information of the optical cable into a local geographic coordinate system O_tX_tY_tZ_tVelocity information V of_xc、V_yc、V_zcSaid velocity information V_xc、V_yc、V_zcAnd the speed difference is output to an information comparison B unit for speed difference comparison.

Coordinate system O of lower well pipe-detecting machine_bX_bY_bZ_bWith the local geographical coordinate system O_tX_tY_tZ_tA conversion matrix of <math> <mrow> <msubsup> <mi>C</mi> <mi>t</mi> <mi>b</mi> </msubsup> <mo>=</mo> <mrow> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mi>cos</mi> <mi></mi> <mi>&psi;</mi> <mi>cos</mi> <mi>&phi;</mi> <mo>+</mo> <mi>sin</mi> <mi></mi> <mi>&psi;</mi> <mi>sin</mi> <mi></mi> <mi>&theta;</mi> <mi>sin</mi> <mi>&phi;</mi> </mtd> <mtd> <mo>-</mo> <mi>sin</mi> <mi></mi> <mi>&psi;</mi> <mi>cos</mi> <mi>&phi;</mi> <mo>+</mo> <mi>cos</mi> <mi></mi> <mi>&psi;</mi> <mi>sin</mi> <mi></mi> <mi>&theta;</mi> <mi>sin</mi> <mi>&phi;</mi> </mtd> <mtd> <mo>-</mo> <mi>cos</mi> <mi></mi> <mi>&theta;</mi> <mi>sin</mi> <mi>&theta;</mi> </mtd> </mtr> <mtr> <mtd> <mi>sin</mi> <mi></mi> <mi>&psi;</mi> <mi>cos</mi> <mi>&theta;</mi> </mtd> <mtd> <mi>cos</mi> <mi></mi> <mi>&psi;</mi> <mi>cos</mi> <mi>&theta;</mi> </mtd> <mtd> <mi>sin</mi> <mi>&theta;</mi> </mtd> </mtr> <mtr> <mtd> <mi>cos</mi> <mi></mi> <mi>&psi;</mi> <mi>sin</mi> <mi>&theta;</mi> <mo>-</mo> <mi>sin</mi> <mi></mi> <mi>&psi;</mi> <mi>sin</mi> <mi></mi> <mi>&theta;</mi> <mi>cos</mi> <mi>&phi;</mi> </mtd> <mtd> <mo>-</mo> <mi>sin</mi> <mi></mi> <mi>&psi;</mi> <mi>sin</mi> <mi>&phi;</mi> <mo>-</mo> <mi>cos</mi> <mi></mi> <mi>&psi;</mi> <mi>sin</mi> <mi></mi> <mi>&theta;</mi> <mi>cos</mi> <mi>&phi;</mi> </mtd> <mtd> <mi>cos</mi> <mi></mi> <mi>&theta;</mi> <mi>cos</mi> <mi>&phi;</mi> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow> </mrow></math> The angles in the matrix respectively comprise an azimuth angle psi, a roll angle phi and an inclination angle theta of the attitude information of the underground exploring tube.

Four, Kalman filter

Kalman filter reception

A) Attitude difference output by the information comparison A unit <math> <mrow> <msub> <mi>Z</mi> <mi>KA</mi> </msub> <mo>=</mo> <mrow> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mi>&psi;</mi> <mo>-</mo> <msub> <mi>&psi;</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&theta;</mi> <mo>-</mo> <msub> <mi>&theta;</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&phi;</mi> <mo>-</mo> <msub> <mi>&phi;</mi> <mi>c</mi> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow> </mrow></math> And

B) speed difference output by information comparison B unit $Z_{\mathrm{KB}}=\left[\begin{array}{c}{V}_x-V_{\mathrm{xc}}\\ V_y-V_{\mathrm{yc}}\\ V_z-V_{\mathrm{zc}}\end{array}\right]$ And

C) speed difference output by information comparison C unit $Z_{\mathrm{KC}}=\left[\begin{array}{c}{V}_x-0\\ V_y-0\\ V_z-0\end{array}\right],$ Data fusion of received information by using discrete Kalman filter to realize state variable X ═ delta r_x，δr_y，δr_z，δv_x，δv_y，δv_z，η_x，η_y，η_z，δf_x，δf_y，δf_z，δω_x，δω_y，δω_z]Performing optimal estimation, performing online error compensation on the strapdown inertial measurement according to the estimated state variable, and outputting compensated attitude information of the downhole probe <math> <mrow> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <msub> <mi>&psi;</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>&theta;</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>&phi;</mi> <mn>0</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mrow> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mi>&psi;</mi> <mo>-</mo> <msub> <mi>&eta;</mi> <mi>x</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&theta;</mi> <mo>-</mo> <msub> <mi>&eta;</mi> <mi>y</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&phi;</mi> <mo>-</mo> <msub> <mi>&eta;</mi> <mi>z</mi> </msub> </mtd> </mtr> </mtable> </mfenced> </mrow> </mrow></math> And displaying an interface for the computer. State variable X ═ δ r_x，δr_y，δr_z，δv_x，δv_y，δv_z，η_x，η_y，η_z，δf_x，δf_y，δf_z，δω_x，δω_y，δω_z]In the formula, δ r_xIndicates the local placeGeographic coordinate system O_tX_tY_tZ_tLower position error X-axis component, δ r_yRepresenting a local geographical coordinate system O_tX_tY_tZ_tLower position error Y-axis component, δ r_zRepresenting a local geographical coordinate system O_tX_tY_tZ_tLower position error Z-axis component, δ v_xRepresenting a local geographical coordinate system O_tX_tY_tZ_tX-axis component of velocity error, δ v_yRepresenting a local geographical coordinate system O_tX_tY_tZ_tVelocity error Y-axis component, δ v_zRepresenting a local geographical coordinate system O_tX_tY_tZ_tVelocity error Z-axis component, η_xIndicating the error of the azimuth angle psi, eta_yRepresenting error of angle of inclination theta, eta_zIndicating the error of roll angle phi, deltaf_xRepresenting X-axis accelerometer error, δ f_yRepresenting Y-axis accelerometer error, δ f_zRepresenting Z-axis accelerometer error, δ ω_xRepresenting the error, δ ω, of the X-axis fiber optic gyroscope_yRepresenting the error, δ ω, of the Y-axis fiber optic gyroscope_zRepresenting Z-axis fiber optic gyro error.

The filtering processing of the Kalman filter adopts a discrete Kalman filtering basic equation, and initial values of various state variables are set to be zero.

Fifthly, information comparison

In the invention, the information comparison is composed of an information comparison A unit, an information comparison B unit and an information comparison C unit, wherein,

an information comparison A unit for completing the azimuth angle psi, the roll angle phi and the inclination angle theta of the attitude information of the downhole exploring tube output by the strapdown inertial measurement unit and the azimuth angle psi of the attitude information of the downhole exploring tube output by the fluxgate measurement unit_cTransverse roll angle phi_cAngle of inclination theta_cSubtracting the output attitude difference <math> <mrow> <msub> <mi>Z</mi> <mi>KA</mi> </msub> <mo>=</mo> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mi>&psi;</mi> <mo>-</mo> <msub> <mi>&psi;</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&theta;</mi> <mo>-</mo> <msub> <mi>&theta;</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&phi;</mi> <mo>-</mo> <msub> <mi>&phi;</mi> <mi>c</mi> </msub> </mtd> </mtr> </mtable> </mfenced> </mrow></math> Giving a Kalman filter;

an information comparison B unit for completing the speed information V of the downhole probe output by the strapdown inertial measurement unit_x、V_y、V_zAnd the speed information V output by the optical cable movement speed measuring unit_xc、V_yc、V_zcSubtracted output speed difference $Z_{\mathrm{KB}}=\left[\begin{array}{c}{V}_x-V_{\mathrm{xc}}\\ V_y-V_{\mathrm{yc}}\\ V_z-V_{\mathrm{zc}}\end{array}\right]$ Giving a Kalman filter;

an information comparison C unit for completing the speed information V of the downhole probe output by the strapdown inertial measurement unit_x、V_y、V_zSubtracting the zero speed information output when the downhole exploring tube is static to output a speed difference value $Z_{\mathrm{KC}}=\left[\begin{array}{c}{V}_x-0\\ V_y-0\\ V_z-0\end{array}\right]$ Giving the Kalman filter.

Sixth, zero speed correction

The zero-speed correction refers to correcting the speed error output by the strapdown inertial measurement unit by the phenomenon that the speed of a downhole probe in the all-fiber digital inclinometer is zero when the downhole probe is in a static position. The zero speed correction is realized by arranging a key, and is shown in figure 5. And when the zero-speed correction mode is adopted, the actual running speed of the downhole exploring tube is zero and is used as comparison information output to the information comparison C unit.

The strapdown inertial combined measurement control device of the present invention may provide four combined measurement modes of operation, each mode being implemented by pressing a corresponding key in the interface of fig. 5. Wherein,

the first mode is as follows: strapdown inertial measurement unit + cable length (measuring mode middle button set to be 1)

The combined measurement mode is used for quick and continuous measurement of conventional wired logging, and is particularly suitable for cased hole or borehole trajectory measurement with magnetic substance interference. The structure is shown in figure 2

The information flow required by the combined measurement is as follows: the first path of information, the strapdown inertial measurement unit firstly receives A) a down-hole pipe detector body coordinate system O output by the optical fiber gyroscope_bX_bY_bZ_bAngular velocity information of the lower part; and B) a downhole probe body coordinate system O output by the accelerometer_bX_bY_bZ_bSpecific force information of; then after the angular velocity information and the specific force information are processed by dead reckoning, outputting C) speed information V of the underground exploring tube_x、V_y、V_z(ii) a Finally, the speed information V is processed_x、V_y、V_zAnd outputting the data to an information comparison B unit. The second path of information is the running speed information V representing the underground exploring tube obtained by recording the length of the optical cable through a counter and then carrying out coordinate conversion_xc、V_yc、V_zcAnd outputting the data to an information comparison B unit. And the first path of information and the second path of information in the information comparison B unit are subjected to speed difference comparison and then output to a Kalman filter for processing. The state variable X output by the Kalman filter is used for compensating the error of the strapdown inertial measurement unit on line, and the output of the attitude information of the downhole exploring tube is an azimuth angle psi after compensation₀Transverse roll angle phi₀Angle of inclination theta₀. And the attitude information is output to a computer display interface for drawing and displaying so as to facilitate the real-time monitoring of an operator. And the fourth path of information, wherein the attitude information is output to a vertical well depth calculation unit for vertical well depth calculation, and well depth parameters are output to a computer display interface for display, so that an operator can conveniently monitor the well depth in real time.

And a second mode: strapdown inertial measurement unit + zero speed correction (measurement mode key set is two)

The combined measurement mode is used in the logging process which does not require continuous measurement, and can be used in the Measurement While Drilling (MWD) process to monitor the drilling direction of a drill bit in real time. The structure is shown in figure 3

The information flow required by the combined measurement is as follows: the first path of information, the strapdown inertial measurement unit firstly receives A) a down-hole pipe detector body coordinate system O output by the optical fiber gyroscope_bX_bY_bZ_bAngular velocity information of the lower part; and B) a downhole probe body coordinate system O output by the accelerometer_bX_bY_bZ_bSpecific force information of; then after the angular velocity information and the specific force information are processed by dead reckoning, outputting C) speed information V of the underground exploring tube_x、V_y、V_z(ii) a Finally, the speed information V is processed_x、V_y、V_zAnd outputting the data to an information comparison C unit. And the actual running speed of the underground exploring tube is zero as the second path of information, and the second path of information is used as comparison information output to the information comparison C unit. And the first path of information and the second path of information in the information comparison C unit are compared by a speed difference value and then output to a Kalman filter for processing. The state variable X output by the Kalman filter is used for compensating the error of the strapdown inertial measurement unit on line, and the output of the attitude information of the downhole exploring tube is an azimuth angle psi after compensation₀Transverse roll angle phi₀Angle of inclination theta₀. And the attitude information is output to a computer display interface for drawing and displaying so as to facilitate the real-time monitoring of an operator. And the fourth path of information, wherein the attitude information is output to a vertical well depth calculation unit for vertical well depth calculation, and well depth parameters are output to a computer display interface for display, so that an operator can conveniently monitor the well depth in real time.

And a third mode: strapdown inertial measurement unit + fluxgate measurement unit (measuring mode middle button set to three)

The combined measurement mode is used for logging operation without magnetic environment interference, and high-precision continuous measurement is realized. The structure is shown in figure 4

The information flow required by the combined measurement is as follows: the first path of information, the strapdown inertial measurement unit firstly receives A) the well descending output by the optical fiber gyroscopePipe detector body coordinate system O_bX_bY_bZ_bAngular velocity information of the lower part; and B) a downhole probe body coordinate system O output by the accelerometer_bX_bY_bZ_bSpecific force information of; then after dead reckoning processing is carried out on the angular velocity information and the specific force information, C) an azimuth angle psi, a roll angle phi and an inclination angle theta representing the attitude information of the underground exploring tube are output; and finally, outputting the attitude information to an information comparison A unit. The second path of information, fluxgate measurement, first receives A) a downhole pipe-exploring machine body coordinate system O output by the fluxgate assembly_bX_bY_bZ_bGeomagnetic component information of the lower earth; and B) a downhole probe body coordinate system O output by the accelerometer_bX_bY_bZ_bSpecific force information of; then flux gate measurement calculation is performed on the geomagnetic component information and the specific force information, and the calculated azimuth angle relative to magnetic north is converted into an azimuth angle psi relative to true north_cThereafter, an azimuth psi representing attitude information of the downhole sonde is output_cTransverse roll angle phi_cAngle of inclination theta_c(ii) a And finally, outputting the attitude information to an information comparison A unit. And comparing the attitude difference value of the first path of information and the second path of information in the information comparison A unit, and outputting the result to a Kalman filter for processing. The state variable X output by the Kalman filter is used for compensating the error of the strapdown inertial measurement unit on line, and the output of the attitude information of the downhole exploring tube is an azimuth angle psi after compensation₀Transverse roll angle phi₀Angle of inclination theta₀. And the attitude information is output to a computer display interface for drawing and displaying so as to facilitate the real-time monitoring of an operator. And the fourth path of information, wherein the attitude information is output to a vertical well depth calculation unit for vertical well depth calculation, and well depth parameters are output to a computer display interface for display, so that an operator can conveniently monitor the well depth in real time.

And a fourth mode: strapdown inertial measurement unit + cable length + zero speed correction + fluxgate measurement unit (Key set to r in measurement mode)

The combined measurement mode is used for various logging environments with cable length assistance and without continuous measurement requirements, and through application of various data fusion technologies, errors of strap-down inertia can be accurately estimated and compensated, and high-precision measurement results can be provided. The structure of the system is shown in fig. 1, and the flow of information required for the combined measurement is described in detail in the specification and will not be described here.

In the invention, the Kalman filter carries out real-time online estimation on the state variable. In four different correlation measurement modes, the state variable X output by kalman filter processing is the same, but the observed quantities used are different.

When the selection mode is one, its corresponding measuring array $H_1=\left[\begin{array}{ccccccccccccccc}0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0\end{array}\right],$ The compensated output representing the attitude information of the downhole probe is <math> <mrow> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <msub> <mi>&psi;</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>&theta;</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>&phi;</mi> <mn>0</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mrow> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mi>&psi;</mi> <mo>-</mo> <msub> <mi>&eta;</mi> <mi>x</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&theta;</mi> <mo>-</mo> <msub> <mi>&eta;</mi> <mi>y</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&phi;</mi> <mo>-</mo> <msub> <mi>&eta;</mi> <mi>z</mi> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>.</mo> </mrow> </mrow></math>

When selecting the second mode, the corresponding measurement array $H_{\mathrm{2,3}}=\left[\begin{array}{ccccccccccccccc}0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0\end{array}\right],$ The compensated output representing the attitude information of the downhole probe is <math> <mrow> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <msub> <mi>&psi;</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>&theta;</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>&phi;</mi> <mn>0</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mrow> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mi>&psi;</mi> <mo>-</mo> <msub> <mi>&eta;</mi> <mi>x</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&theta;</mi> <mo>-</mo> <msub> <mi>&eta;</mi> <mi>y</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&phi;</mi> <mo>-</mo> <msub> <mi>&eta;</mi> <mi>z</mi> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>.</mo> </mrow> </mrow></math> In the present invention, the measurement arrays of the mode three and the mode two are the same, and the output is also the same, that is, the speed difference is used as the observed quantity in both the mode three and the mode two.

When the selection mode is four, the corresponding measuring array $H_4=\left[\begin{array}{cccccccccccccccc}0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0\end{array}\right],$ The compensated output representing the attitude information of the downhole probe is <math> <mrow> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <msub> <mi>&psi;</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>&theta;</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>&phi;</mi> <mn>0</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mrow> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mi>&psi;</mi> <mo>-</mo> <msub> <mi>&eta;</mi> <mi>x</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&theta;</mi> <mo>-</mo> <msub> <mi>&eta;</mi> <mi>y</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&phi;</mi> <mo>-</mo> <msub> <mi>&eta;</mi> <mi>z</mi> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>.</mo> </mrow> </mrow></math>

The optical fiber gyroscope component comprises an X-axis optical fiber gyroscope, a Y-axis optical fiber gyroscope and a Z-axis optical fiber gyroscope, and the three optical fiber gyroscopes output angular velocity information; the accelerometer component comprises an X-axis accelerometer, a Y-axis accelerometer and a Z-axis accelerometer, and the three accelerometers output specific force information; the fluxgate assembly comprises an X-axis fluxgate, a Y-axis fluxgate and a Z-axis fluxgate, and the three fluxgates output geomagnetic component information.

The strapdown inertial combination measuring method provided by the invention is characterized in that according to different practical application environments and field conditions of a well to be measured, the selected sensor assembly is selected to meet the requirement of measuring precision so as to determine the measuring mode of the all-fiber digital inclinometer, and different measured values are subjected to data fusion and optimal estimation of system errors in the selected measuring mode, so that online compensation is carried out on a strapdown inertial measuring unit, the measuring precision of the all-fiber digital inclinometer is improved, and a wider use space is provided for the all-fiber digital inclinometer.

Claims (6)

1. A strapdown inertial combined measurement control device suitable for an all-fiber digital inclinometer comprises:

a computer for storing an inertia combination measurement task control program;

the optical fiber gyroscope is used for inputting angular speed information;

an accelerometer for inputting specific force information;

a fluxgate for inputting geomagnetic component information;

the downhole probe is used for inputting zero-speed correction information;

the counter is used for inputting cable length information and is arranged on the optical cable winch, one end of the optical cable is connected to the optical cable winch, and the other end of the optical cable is fixed on the underground exploring tube; it is characterized by also comprising:

a strapdown inertia measuring unit, a fluxgate measuring unit, an optical cable running speed measuring unit, a Kalman filter, an information comparison A unit, an information comparison B unit and an information comparison C unit,

the strapdown inertial measurement unit firstly receives A) a down-hole pipe detector body coordinate system O output by the optical fiber gyroscope_bX_bY_bZ_bAngular velocity information of the lower part; and

B) downhole pipe sounding machine body coordinate system O output by accelerometer_bX_bY_bZ_bSpecific force information of; then to

After the angular velocity information and the specific force information are processed by dead reckoning, C) velocity information V of the underground exploring tube is output_x、V_y、V_z(ii) a And

D) azimuth angle psi, roll angle phi and inclination angle theta of the attitude information of the downhole exploring tube; finally, the

E) the speed information V_x、V_y、V_zThe information is output to the information comparison B unit and the information comparison C unit;

outputting the F) posture information to an information comparison A unit;

the fluxgate measurement unit firstly receives A) a downhole pipe-exploring machine body coordinate system O output by the fluxgate assembly_bX_bY_bZ_bGeomagnetic component information of the lower earth; and

B) downhole pipe-exploring machine body coordinate system O output by accelerometer_bX_bY_bZ_bSpecific force information of; then to

The geomagnetic component information and the specific force information are calculated by a fluxgate measuring unit, and the calculated relative values are calculated

Conversion of azimuthal angle to magnetic north to azimuthal angle psi relative to true north_cAnd then outputting the azimuth psi of the attitude information of the underground exploring tube_cTransverse roll angle phi_cAngle of inclination theta_c(ii) a Finally, the

Outputting the C) attitude information to an information comparison A unit;

the optical cable running speed measuring unit obtains the optical cable length increment in unit time by measuring with a counter, thereby obtaining a body coordinate system O of the downhole exploring tube during running_bX_bY_bZ_bVelocity information V of_xc、V_yc、V_zc；

The Kalman filter receives

A) Attitude difference output by the information comparison A unit <math> <mrow> <msub> <mi>Z</mi> <mi>KA</mi> </msub> <mo>=</mo> <mrow> <mfenced open='[' close=']' separators=','> <mtable> <mtr> <mtd> <mi>&psi;</mi> <mo>-</mo> <msub> <mi>&psi;</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&theta;</mi> <mo>-</mo> <msub> <mi>&theta;</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&phi;</mi> <mo>-</mo> <msub> <mi>&phi;</mi> <mi>c</mi> </msub> </mtd> </mtr> </mtable> </mfenced> </mrow> <mo>,</mo> </mrow></math> And

B) speed difference output by information comparison B unit $Z_{\mathrm{KB}}=\left[\begin{array}{c}{V}_x-V_{\mathrm{xc}}\\ V_y-V_{\mathrm{yc}}\\ V_z-V_{\mathrm{zc}}\end{array}\right]$ And

C) speed difference output by information comparison C unit $Z_{\mathrm{KC}}=\left[\begin{array}{c}{V}_x-0\\ V_y-0\\ V_z-0\end{array}\right],$

Data fusion of received information by using discrete Kalman filter to realize state variable

X＝[δr_x，δr_y，δr_z，δv_x，δv_y，δv_z，η_x，η_y，η_z，δf_x，δf_y，δf_z，δω_x，δω_y，δω_z]Optimal estimation, online error compensation is carried out on the strapdown inertial measurement according to the estimated state variable, and compensated down-hole probe attitude information is output <math> <mrow> <mrow> <mfenced open='[' close=']' separators=' ,'> <mtable> <mtr> <mtd> <msub> <mi>&psi;</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>&theta;</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>&phi;</mi> <mn>0</mn> </msub> </mtd> </mtr> </mtable> </mfenced> </mrow> <mo>=</mo> <mrow> <mfenced open='[' close=']' separators=','> <mtable> <mtr> <mtd> <mi>&psi;</mi> <mo>-</mo> <msub> <mi>&eta;</mi> <mi>x</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&theta;</mi> <mo>-</mo> <msub> <mi>&eta;</mi> <mi>y</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&phi;</mi> <mo>-</mo> <msub> <mi>&eta;</mi> <mi>z</mi> </msub> </mtd> </mtr> </mtable> </mfenced> </mrow> </mrow></math> Displaying an interface to the computer; in the formula,

δf_xrepresenting a local geographical coordinate system O_tX_tY_tZ_tThe X-axis component of the position error below,

δr_yrepresenting a local geographical coordinate system O_tX_tY_tZ_tThe Y-axis component of the lower position error,

δr_zrepresenting a local geographical coordinate system O_tX_tY_tZ_tThe Z-axis component of the lower position error,

δv_xrepresenting a local geographical coordinate system O_tX_tY_tZ_tThe X-axis component of the velocity error,

δv_yrepresenting a local geographical coordinate system O_tX_tY_tZ_tThe Y-axis component of the velocity error,

δv_zrepresenting a local geographical coordinate system O_tX_tY_tZ_tThe Z-axis component of the velocity error,

η_xwhich represents the error in the azimuth angle psi,

η_ywhich is indicative of the error in the tilt angle theta,

η_zthe error of the roll angle phi is shown,

δf_xan error of the accelerometer of the X-axis is represented,

δf_ythe error of the accelerometer in the Y-axis is shown,

δf_zthe error of the accelerometer in the Z-axis is shown,

δω_xthe X-axis fiber optic gyro error is represented,

δω_ythe Y-axis fiber optic gyro error is represented,

δω_zrepresenting Z-axis fiber optic gyroscope errors;

the information comparison A unit is used for completing the azimuth angle psi, the roll angle phi and the inclination angle theta of the attitude information of the underground exploring tube output by the strapdown inertial measurement unit and the azimuth angle psi of the attitude information of the underground exploring tube output by the fluxgate measurement unit_cTransverse roll angle phi_cAngle of inclination theta_cSubtracting the output attitude difference <math> <mrow> <msub> <mi>Z</mi> <mi>KA</mi> </msub> <mo>=</mo> <mrow> <mfenced open='[' close=']' separators=','> <mtable> <mtr> <mtd> <mi>&psi;</mi> <mo>-</mo> <msub> <mi>&psi;</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&theta;</mi> <mo>-</mo> <msub> <mi>&theta;</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&phi;</mi> <mo>-</mo> <msub> <mi>&phi;</mi> <mi>c</mi> </msub> </mtd> </mtr> </mtable> </mfenced> </mrow> </mrow></math> Giving a Kalman filter;

the information comparison B unit is used for finishing the speed information V of the downhole probe output by the strapdown inertial measurement unit_x、V_y、V_zAnd the speed information V output by the optical cable movement speed measuring unit_xc、V_yc、V_zcSubtracted output speed difference $Z_{\mathrm{KB}}=\left[\begin{array}{c}{V}_x-V_{\mathrm{xc}}\\ V_y-V_{\mathrm{yc}}\\ V_z-V_{\mathrm{zc}}\end{array}\right]$ Giving a Kalman filter;

the information comparison C unit is used for finishing the speed information V of the downhole probe output by the strapdown inertial measurement unit_x、V_y、V_zSubtracting the zero speed information output when the downhole exploring tube is static to output a speed difference value $Z_{\mathrm{KC}}=\left[\begin{array}{c}{V}_x-0\\ V_y-0\\ V_z-0\end{array}\right]$ Giving the Kalman filter.

2. The strapdown inertial combination measurement control device of claim 1, wherein: the method comprises a first measurement working mode of the strapdown inertial measurement unit and the cable length, or a second measurement working mode of the strapdown inertial measurement unit and the zero-speed correction, or a third measurement working mode of the strapdown inertial measurement unit and the fluxgate measurement unit, or a fourth measurement working mode of the strapdown inertial measurement unit and the cable length and the zero-speed correction and the fluxgate measurement unit.

3. The strapdown inertial combination measurement control device of claim 1, wherein: the initial value in the state variable X is set to zero.

4. The strapdown inertial combination measurement control device of claim 1, wherein: according to different measurement working modes, the observed quantity of the Kalman filter is different, so that a measurement array is provided

$H_1=\left[\begin{array}{ccccccccccccccc}0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0\end{array}\right],$ Or is that

$H_{\mathrm{2,3}}=\left[\begin{array}{ccccccccccccccc}0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0\end{array}\right],$ Or is that

$H_4=\left[\begin{array}{cccccccccccccccc}0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0\end{array}\right].$

5. The strapdown inertial combination measurement control device of claim 1, wherein: the zero-speed correction information input by the downhole probe is realized by a key in a main control interface of the inertia combination measurement task control program arranged on a computer display screen.

6. The strapdown inertial combination measurement control device of claim 1, wherein: and the Kalman filter carries out real-time online estimation on the state variable.

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