CN101982734A - Calculation method for underground magnetic navigation - Google Patents
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- CN101982734A CN101982734A CN 201010523432 CN201010523432A CN101982734A CN 101982734 A CN101982734 A CN 101982734A CN 201010523432 CN201010523432 CN 201010523432 CN 201010523432 A CN201010523432 A CN 201010523432A CN 101982734 A CN101982734 A CN 101982734A
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Abstract
The invention discloses a calculation method for underground magnetic navigation, comprising the following steps: step 1, preprocessing acquired magnetic signals by an underground magnetic navigation method; step 2, establishing a model for calculating the strength of induced magnetic fields generated at any point in space by a magnetic source; step 3, starting from a magnetic dipole model; step 4, solving the undetermined coefficient in a relational expression shown in the specification by adopting the least square linear fitting method; step 5, adopting the model established in step 3 to solve the relation among an azimuth, a hole deviation angle and the strengths of magnetic inductions generated by the magnetic source at any point in space in the directions of x, y and z through back calculation; step 6, adopting three pairs of magnetic field strengths in the directions of x, y and z acquired by three fluxgate type sensors; and step 7, judging the position of the magnetic source relative to a magnetic vector sensor. The method has the advantages of adopted artificial magnetic beacon, long navigation distance and high angle measurement precision. The calculation method is simple, can be programmed conveniently by a computer, and has high operation efficiency.
Description
Technical Field
The invention relates to a navigation calculation method, in particular to a calculation method for underground magnetic navigation.
Background
The coal bed gas reserves in China are rich, the social demand and the growth are great, and the utilization prospect is wide. At present, the yield of the coal bed gas single well is low and the number of the wells is small. Current development attempts show that: in the future, a mode with a multi-branch horizontal well as a main well and a vertical well as an auxiliary well is formed. The multi-branch horizontal well technology in China basically depends on foreign companies, the domestic drilling technology is not matched, special tools and equipment are deficient, the scale development is severely restricted, the key problem is how to realize the communication between the main branch of the horizontal well and the vertical well, the underground magnetic navigation system is developed to solve the problem, the development yield of the oil and gas field and the coal bed gas can be greatly improved, and the exploitation efficiency is improved. The calculation method for underground magnetic navigation is that whether an underground navigation system can successfully navigate a drill collar or not, and the communication of two wells is important.
Disclosure of Invention
The invention aims to provide a calculation method for underground magnetic navigation, which can provide an effective high and new technical means for realizing the communication between a main branch of a horizontal well and a vertical well.
The invention is realized in the following way, which is characterized by comprising the following steps:
step 1, preprocessing the collected magnetic signals by an underground magnetic navigation method: the method comprises the steps of performing FIR digital filtering on original magnetic signals acquired by a magnetic vector sensor to filter geomagnetic signals and noise contained in the signals, wherein the noise signals are generally high-frequency signals, so that the signals are firstly passed through a low-pass filter to filter high-frequency noise, then performing FIR digital filtering on the signals, and filtering the geomagnetic signals to obtain magnetic signals generated by a permanent magnet pup joint;
step 5, inverting a relational expression of the azimuth angle, the inclination angle and the magnetic induction intensity of the magnetic source in the x, y and z directions generated at any point of the space by using the calculation model of the magnetic induction intensity generated by the magnetic source at any point of the space, which is established in the step 3, by adopting an extreme value taking method;
step 6, utilizing three pairs of magnetic field intensity of x, y and z acquired by the three fluxgate sensors, and applying a multi-sensor data fusion technology to further improve the angle measurement accuracy;
and 7, judging the position of the magnetic source relative to the magnetic vector sensor by using the three pairs of magnetic field strengths of x, y and z acquired by the three fluxgate sensors.
The invention has the advantages that: and the artificial magnetic beacon is adopted, so that the navigation distance is long, and the angle measurement precision is high. The calculation method is simple, the computer programming is convenient to realize, and the calculation efficiency is high.
Drawings
FIG. 1 is a graph of the induced magnetic field strength generated at any point in space by a magnetic source of the present invention.
FIG. 2 is a schematic diagram illustrating the determination of the direction of deviation of the magnetic source according to the present invention.
FIG. 3 is a basic schematic diagram of the underground magnetic navigation system of the present invention.
Detailed Description
The invention is realized by the following steps:
step 1, preprocessing the collected magnetic signals by an underground magnetic navigation method: the method comprises the steps of performing FIR digital filtering on original magnetic signals acquired by a magnetic vector sensor to filter geomagnetic signals and noise contained in the signals, wherein the noise signals are generally high-frequency signals, so that the signals are firstly passed through a low-pass filter to filter high-frequency noise, then performing FIR digital filtering on the signals, and filtering the geomagnetic signals to obtain magnetic signals generated by a permanent magnet pup joint;
Wherein,
，
，
，
step 5, inverting a relational expression of the azimuth angle, the inclination angle and the magnetic induction intensity of the magnetic source in the x, y and z directions generated at any point of the space by using the calculation model of the magnetic induction intensity generated by the magnetic source at any point of the space, which is established in the step 3, by adopting an extreme value taking method; the relation between the azimuth angle and the magnetic induction intensity of the magnetic source in the x, y and z directions generated at any point in the space is inverted by adopting an extreme value taking method, and the relation is as follows:
The relation between the inclination angle and the magnetic induction intensity of the magnetic source in the x, y and z directions generated at any point in space can be known from the symmetry as follows:
Step 6, utilizing three pairs of magnetic field intensity of x, y and z acquired by the three fluxgate sensors, and applying a multi-sensor data fusion technology to further improve the angle measurement accuracy;
and 7, judging the position of the magnetic source relative to the magnetic vector sensor by utilizing the magnetic field intensity of three pairs of x, y and z acquired by the three fluxgate sensors, wherein as shown in fig. 2, the three fluxgate sensors in the magnetic vector sensor are arranged on the same axis at an angle different from 7.5 degrees, when the sensors are aligned with the magnetic source, one fluxgate sensor is aligned with the magnetic source, the other fluxgate sensor is shifted by 7.5 degrees leftwards, and the other fluxgate sensor is shifted by 7.5 degrees rightwards. The magnetic field intensity generated by the arbitrary point p in the y direction of the rectangular coordinate system where the three sensors are located is
Therefore, in a period of data collected by the three sensors, which sensor has the minimum magnetic induction intensity indicates that the drill bit is deviated to which sensor, so that the direction of deviation of the drill bit from the normal track can be judged.
The distance and the relative position between the drill bit and the magnetic vector sensor can be calculated through the steps, and then the distance and the relative position are displayed through a computer, so that people on the ground can know the position of the drill bit in the horizontal well at any time.
As shown in fig. 3, the drill bit 1 is fixedly connected to the permanent magnet sub 2, the magnetic vector sensor 4 receives the magnetic signal of the permanent magnet sub 2, and the magnetic signal acquired by the magnetic vector sensor 4 = the geomagnetic signal + the signal generated by the magnetic source + the noise, so that the acquired magnetic signal is digitally filtered to remove the geomagnetic signal and the noise to obtain the sub signal generated by the magnetic source. And (3) obtaining the distance and the angle of the magnetic source relative to the magnetic vector sensor by adopting the distance and angle calculation formula derived in the step (5) and the step (6) for the preprocessed signals, obtaining a more accurate angle value by using the multi-sensor data fusion technology in the step (7), and finally transmitting the obtained distance and angle to a computer on the ground, wherein the computer analyzes the navigation track 3 for directional drilling of the navigation drill collar.
Claims (1)
1. A calculation method for underground magnetic navigation is characterized by comprising the following steps:
step 1, preprocessing the collected magnetic signals by an underground magnetic navigation method: the method comprises the steps of performing FIR digital filtering on original magnetic signals acquired by a magnetic vector sensor to filter geomagnetic signals and noise contained in the signals, wherein the noise signals are generally high-frequency signals, so that the signals are firstly passed through a low-pass filter to filter high-frequency noise, then performing FIR digital filtering on the signals, and filtering the geomagnetic signals to obtain magnetic signals generated by a permanent magnet pup joint;
step 2, establishing a magnetic dipole model on the basis of two basic laws, namely an ampere molecular circulation hypothesis and a biot-savart law, and establishing an induced magnetic field intensity calculation model generated by a magnetic source at any point in space;
step 3, deriving a relational expression of the distance and the magnetic induction intensity of the magnetic source in the x, y and z directions generated at any point in space from the magnetic dipole model;
step 4, solving a coefficient to be determined in the relational expression by adopting a least square linear fitting method;
step 5, inverting a relational expression of the azimuth angle, the inclination angle and the magnetic induction intensity of the magnetic source in the x, y and z directions generated at any point of the space by using the calculation model of the magnetic induction intensity generated by the magnetic source at any point of the space, which is established in the step 3, by adopting an extreme value taking method;
step 6, utilizing three pairs of magnetic field intensity of x, y and z acquired by the three fluxgate sensors, and applying a multi-sensor data fusion technology to further improve the angle measurement accuracy;
and 7, judging the position of the magnetic source relative to the magnetic vector sensor by using the three pairs of magnetic field strengths of x, y and z acquired by the three fluxgate sensors.
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Cited By (8)
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| CN102998708A (en) * | 2011-05-25 | 2013-03-27 | 利宇Tec株式会社 | Apparatus and method for detecting location of underground facility |
| CN104806166A (en) * | 2015-03-25 | 2015-07-29 | 宁夏煤炭勘察工程公司 | Butt joint method for ground multi-branch horizontal well and underground horizontal drilling far end |
| CN105928511A (en) * | 2016-04-18 | 2016-09-07 | 哈尔滨工业大学 | Positioning and orientation method based on double magnetic beacons |
| CZ307060B6 (en) * | 2016-10-31 | 2017-12-20 | České vysoké učení technické v Praze - Fakulta elektrotechnická | A vehicle presence detector |
| CN113124882A (en) * | 2021-06-17 | 2021-07-16 | 天津大学 | Multi-dipole magnetic source inversion positioning method under condition of unknown background magnetic field |
| US20220120169A1 (en) * | 2020-10-16 | 2022-04-21 | Halliburton Energy Services, Inc. | Use of residual gravitational signal to perform anomaly detection |
| CN114749700A (en) * | 2021-12-10 | 2022-07-15 | 盐城工学院 | Magnetic auxiliary control method for straightness error of non-magnetic material gun drill processing |
| CN115963038A (en) * | 2022-12-14 | 2023-04-14 | 中国科学院空间应用工程与技术中心 | Magnetic particle motion track measuring system and method based on space microgravity condition |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102998708A (en) * | 2011-05-25 | 2013-03-27 | 利宇Tec株式会社 | Apparatus and method for detecting location of underground facility |
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| CN104806166A (en) * | 2015-03-25 | 2015-07-29 | 宁夏煤炭勘察工程公司 | Butt joint method for ground multi-branch horizontal well and underground horizontal drilling far end |
| CN105928511A (en) * | 2016-04-18 | 2016-09-07 | 哈尔滨工业大学 | Positioning and orientation method based on double magnetic beacons |
| CN105928511B (en) * | 2016-04-18 | 2018-11-23 | 哈尔滨工业大学 | A kind of positioning and orienting method based on double magnetic beacons |
| CZ307060B6 (en) * | 2016-10-31 | 2017-12-20 | České vysoké učení technické v Praze - Fakulta elektrotechnická | A vehicle presence detector |
| US20220120169A1 (en) * | 2020-10-16 | 2022-04-21 | Halliburton Energy Services, Inc. | Use of residual gravitational signal to perform anomaly detection |
| CN113124882A (en) * | 2021-06-17 | 2021-07-16 | 天津大学 | Multi-dipole magnetic source inversion positioning method under condition of unknown background magnetic field |
| CN113124882B (en) * | 2021-06-17 | 2021-09-28 | 天津大学 | Multi-magnetic dipole magnetic source inversion positioning method under condition of unknown background magnetic field |
| CN114749700A (en) * | 2021-12-10 | 2022-07-15 | 盐城工学院 | Magnetic auxiliary control method for straightness error of non-magnetic material gun drill processing |
| CN115963038A (en) * | 2022-12-14 | 2023-04-14 | 中国科学院空间应用工程与技术中心 | Magnetic particle motion track measuring system and method based on space microgravity condition |
| CN115963038B (en) * | 2022-12-14 | 2023-07-28 | 中国科学院空间应用工程与技术中心 | Magnetic particle motion trail measurement system and method based on space microgravity condition |
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Inventor after: Yu Runqiao Inventor after: Cheng Qiangqiang Inventor after: Hu Bo Inventor after: Ying Zheng Inventor after: Dai Pupu Inventor before: Cheng Qiangqiang Inventor before: Hu Bo |
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Application publication date: 20110302 |