CN102134989B - Method for point measurement of well by gyroscopic inclinometer - Google Patents

Abstract

The invention discloses a method for point measurement of a well by a gyroscopic inclinometer. The gyroscopic inclinometer with two dual-DOF (degree of freedom) flexible gyroscopes and a dual-quartz accelerometer is fixed on a carrier and extends in the well along with the carrier; data collected by the gyroscopes and the quartz accelerometer are input for calculating an azimuth angle Gama, an inclination angle Alpha and a transverse rolling angle Beta. In the method, the data in the well are collected by the gyroscopes; furthermore, the azimuth angle, the inclination angle and the transverse rolling angle of a certain point in the well can be measured by filtering, attitude algorithm and dislocation; the measuring reliability is good, the measuring precision is high and the measuring speed is quick; the method is realized by an embedded computer; the aim of collecting and calculating data underground can be achieved; a well track drawing can be drawn by the measured data, therefore, the obtaining of the drilling well track can be facilitated; and the gyroscope has high sensitivity and good stability, is not interfered by magnetic field, can be used conveniently, and can complete inclination point measurement relaying on measuring the angular rotation velocity of the earth.

Description

Utilize the method for gyrolevel point well logging eye

Technical field

The present invention relates to a kind of method of putting the well logging eye.

Background technology

Tradition well logging deviational survey system mainly adopts fluxgate compass.Magnetic compass adds two tables that add, and cooperates photodetector system, has consisted of the well survey device.Magnetic compass is to utilize earth self-field to carry out alignment of orientation, and the principal element that affects precision is the magnetic field of the earth.The magnetic field of the earth easily is subject to natural iron ore, the impact of artificial electromagnetic signal (such as generator, the electromagnetic radiation of the equipment such as motor).In cased well, the magnetic field of the earth is disturbed, and magnetic compass can not normally use, and these factors are restricting the use of magnetic compass.

Summary of the invention

For the prior art above shortcomings, the purpose of this invention is to provide a kind of method of utilizing gyrolevel point well logging eye that is not subjected to magnetic interference.The method gathers downhole data by gyrolevel, and through filtering, attitude algorithm and transposition measure in the well certain any azimuth, angle of slope and roll angle, and draw out well track figure, the method good reliability, precision is high, and measuring speed is fast, is convenient to obtain the track of institute's drilling well eye.

The method of utilizing gyrolevel point well logging eye provided by the invention, the method comprises the steps:

(1), gyrolevel that two double freedom flexure gyroscopes and biquartz accelerometer will be housed is fixed on the carrier, and stretches in the well with carrier;

(2), set up geographic coordinate system and carrier coordinate system:

Geographic coordinate system OX ₀Y ₀Z ₀: according to the position of the gyrolevel place earth, X ₀Axle and Y ₀Axle in geographical horizontal plane, X ₀Axle points to east, Y ₀The axle energized north, Z ₀Axle vertically points to towards the sky, and consists of right-handed coordinate system;

Carrier coordinate system OX ₃Y ₃Z ₃: the X of gyrolevel ₃Axle refers to the right side, the Y of gyrolevel ₃Before axle refers to, the Z of gyrolevel ₃Axle vertically points to towards the sky, and consists of right-handed coordinate system;

There are an azimuth γ in described carrier coordinate system and geographic coordinate system, and azimuth γ is the Y in the carrier coordinate system ₃Axle is at the projection of horizontal plane and the Y in the geographic coordinate system ₀The angle of axle;

(3), the earth rotation acceleration of gyrolevel detection is at X ₃Axle and Y ₃The component of axle:

In the following formula: Be carrier location latitude;

North component for the earth rotation acceleration; ω _XgBe the component of earth rotation acceleration on X-axis; ω _YgBe the component of earth rotation acceleration on Y-axis; G represents carrier coordinate system;

(4), two torquer sensitive axes of gyro are applied certain electric current, make the precession of gyro main shaft follow the tracks of earth rotation, when gyroscopic procession angular velocity and rotational-angular velocity of the earth component equate, by the relation of torquer electric current and angular velocity of precession: Calculate orientation γ:

$\mathrm{\γ}=\arctan \frac{I_x{K}_y}{I_y{K}_x}$

In the following formula: I _xIt is an electric current that the torquer sensitive axes applies; I _yThe electric current that applies for another torquer sensitive axes; K _xConstant multiplier for X-axis; K _yConstant multiplier for Y-axis;

(5), with geographic coordinate system OX ₀Y ₀Z ₀Around Z ₀Axle obtains coordinate system OX after rotating an azimuth γ ₁Y ₁Z ₁, again with coordinate system OX ₁Y ₁Z ₁Around X ₁Axle obtains coordinate system OX after rotating an inclined angle alpha ₂Y ₂Z ₂, at last again with coordinate system OX ₂Y ₂Z ₂Around Y ₂Axle rotates a roll angle β and obtains carrier coordinate system OX ₃Y ₃Z ₃By geographic coordinate system OX ₀Y ₀Z ₀Rotate to carrier coordinate system OX three times ₃Y ₃Z ₃The attitude matrix equation:

${\mathrm{<figure-callout\; id="0"\; label="C"\; filenames="HDA0000048349880000021.png"\; state="\{\{state\}\}">C</figure-callout>}}_0^3=\left[\begin{array}{ccc}\cos \mathrm{\&beta;}\cos \mathrm{\&gamma;}-\sin \mathrm{\&alpha;}\sin \mathrm{\&beta;}\sin \mathrm{\&gamma;}& \cos \mathrm{\&beta;}\sin \mathrm{\&gamma;}+\sin \mathrm{\&alpha;}\sin \mathrm{\&beta;}\cos \mathrm{\&gamma;}& -\cos \mathrm{\&alpha;}\sin \mathrm{\&beta;}\\ -\cos \mathrm{\&alpha;}\sin \mathrm{\&gamma;}& \cos \mathrm{\&alpha;}\cos \mathrm{\&gamma;}& \sin \mathrm{\&alpha;}\\ \sin \mathrm{\&beta;}\cos \mathrm{\&gamma;}+\sin \mathrm{\&alpha;}\cos \mathrm{\&beta;}\sin \mathrm{\&gamma;}& \sin \mathrm{\&beta;}\sin \mathrm{\&gamma;}-\sin \mathrm{\&alpha;}\cos \mathrm{\&beta;}\cos \mathrm{\&gamma;}& \cos \mathrm{\&alpha;}\cos \mathrm{\&beta;}\end{array}\right]$

Gyroscope sensitive axes sensitivity to rotational-angular velocity of the earth be:

In the following formula: ω _X3For postrotational rotational-angular velocity of the earth for the third time at X ₃Component on the axle; ω _Y3For postrotational rotational-angular velocity of the earth for the third time at Y ₃Component on the axle; ω _Z3For postrotational rotational-angular velocity of the earth for the third time at Z ₃Component on the axle;

The gyro sensitive signal is decomposed on the horizontal direction, and then earth rotation horizontal component signal indication is:

$\left[\begin{array}{c}{\mathrm{\&omega;}}_{x1}\\ {\mathrm{\&omega;}}_{y1}\\ {\mathrm{\&omega;}}_{z1}\end{array}\right]=\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\&alpha;}& -\sin \mathrm{\&alpha;}\\ 0& \sin \mathrm{\&alpha;}& \cos \mathrm{\&alpha;}\end{array}\right]\left[\begin{array}{ccc}\cos \mathrm{\&beta;}& 0& \sin \mathrm{\&beta;}\\ 0& 1& 0\\ -\sin \mathrm{\&beta;}& 0& \cos \mathrm{\&beta;}\end{array}\right]\left[\begin{array}{c}{\mathrm{\&omega;}}_{x3}\\ {\mathrm{\&omega;}}_{y3}\\ {\mathrm{\&omega;}}_{z3}\end{array}\right]$

$=\left[\begin{array}{c}{\mathrm{\&omega;}}_{x3}\cos \mathrm{\&beta;}+{\mathrm{\&omega;}}_{z3}\sin \mathrm{\&beta;}\\ {\mathrm{\&omega;}}_{x3}\sin \mathrm{\&alpha;}\sin \mathrm{\&beta;}+{\mathrm{\&omega;}}_{y3}\cos \mathrm{\&alpha;}-{\mathrm{\&omega;}}_{z3}\sin \mathrm{\&alpha;}\cos \mathrm{\&beta;}\\ -{\mathrm{\&omega;}}_{x3}\cos \mathrm{\&alpha;}\sin \mathrm{\&beta;}+{\mathrm{\&omega;}}_{y3}\sin \mathrm{\&alpha;}+{\mathrm{\&omega;}}_{z3}\cos \mathrm{\&alpha;}\cos \mathrm{\&beta;}\end{array}\right];$

In the following formula: ω _X1For postrotational rotational-angular velocity of the earth for the first time at X ₁Component on the axle; ω _Y1For postrotational rotational-angular velocity of the earth for the first time at Y ₁Component on the axle; ω _Z1For postrotational rotational-angular velocity of the earth for the first time at Z ₁Component on the axle;

The table signal resolution formula that adds that is detected by quartz accelerometer is:

$A_g={\mathrm{<figure-callout\; id="0"\; label="C"\; filenames="HDA0000048349880000021.png"\; state="\{\{state\}\}">C</figure-callout>}}_0^3{A}_0=\left[\begin{array}{c}-g\cos \mathrm{\&alpha;}\sin \mathrm{\&beta;}\\ g\sin \mathrm{\&alpha;}\\ g\cos \mathrm{\&alpha;}\cos \mathrm{\&beta;}\end{array}\right]$

In the following formula: A _gBe the component of acceleration of gravity on three axles after three rotations; A ₀Acceleration of gravity is not at the component of three axles when rotating;

Bring above-mentioned each parameter into following formula, calculate azimuth γ, inclined angle alpha and the roll angle β of well:

$\mathrm{\&gamma;}=\arctan \frac{w_{x1}}{w_{y1}},$

$\mathrm{\&alpha;}=\arcsin \left(\frac{A_{\mathrm{yg}}}{g}\right),$

$\mathrm{\&beta;}=\arcsin (-\frac{A_{\mathrm{xg}}}{g\cos \mathrm{\&alpha;}});$

In above-mentioned: A _YgBe Y-axis acceleration measuring value; A _XgBe X-axis acceleration measuring value;

(6) azimuth γ, inclined angle alpha and roll angle β are kept in the computer, and go out well track figure by computer drawing; Just can obtain the track of institute's drilling well eye by well track figure.

The present invention utilizes the method for gyrolevel point well logging eye, compared with prior art, has following advantage:

1, this method gathers downhole data by gyroscope, and through filtering, attitude algorithm and transposition measure in the well certain any azimuth, angle of slope and roll angle, good reliability, precision is high, measuring speed is fast.

2, this method can realize by embedded computer, reaches in downhole data collection and the purpose resolved, utilizes survey data can draw out well track figure, is convenient to obtain the track of institute's drilling well eye.

3, the gyroscope of the present invention's employing is a kind of highly sensitive, and good stability is not subjected to magnetic interference, and is easy to use, and relies on the spin velocity of measuring the earth to finish the survey of deviational survey point.

Description of drawings

Fig. 1 is the exploded view of earth rotation signal;

Fig. 2 is that geographical coordinate is tied to the schematic diagram that carrier coordinate system Euler rotates.

The specific embodiment

Below in conjunction with the drawings and specific embodiments the present invention is described in further detail.

Utilize the method for gyrolevel point well logging eye, comprise the steps:

(1), gyrolevel that two double freedom flexure gyroscopes and biquartz accelerometer will be housed is fixed on the carrier, and stretches in the well with carrier.

(2), set up geographic coordinate system and carrier coordinate system:

Geographic coordinate system OX ₀Y ₀Z ₀: according to the position of the gyrolevel place earth, X ₀Axle and Y ₀Axle in geographical horizontal plane, X ₀Axle points to east, Y ₀The axle energized north, Z ₀Axle vertically points to towards the sky, and consists of right-handed coordinate system;

Carrier coordinate system OX ₃Y ₃Z ₃: the X3 axle of gyrolevel refers to the right side, the Y of gyrolevel ₃Before axle refers to, the Z of gyrolevel ₃Axle vertically points to towards the sky, and consists of right-handed coordinate system;

There are an azimuth γ in described carrier coordinate system and geographic coordinate system, and azimuth γ is the Y in the carrier coordinate system ₃Axle is at the projection of horizontal plane and the Y in the geographic coordinate system ₀The angle of axle.

(3), the earth rotation acceleration that detects of gyrolevel is at the component (showing such as Fig. 1) of X-axis and Y-axis:

In the following formula:

Be carrier location latitude;

North component for the earth rotation acceleration; ω _XgBe the component of earth rotation acceleration on X-axis; ω _YgBe the component of earth rotation acceleration on Y-axis; Represent geographic coordinate system with n, g represents carrier coordinate system.

(4), two torquer sensitive axes of gyro are applied certain electric current, make the precession of gyro main shaft follow the tracks of earth rotation, when gyroscopic procession angular velocity and rotational-angular velocity of the earth component equate, by the relation of torquer electric current and angular velocity of precession:

Calculate angle γ by north:

$\mathrm{\&gamma;}=\arctan \frac{I_x{K}_y}{I_y{K}_x};$

In the following formula: I _xIt is an electric current that the torquer sensitive axes applies; I _yThe electric current that applies for another torquer sensitive axes; K _xConstant multiplier for X-axis; K _yConstant multiplier for Y-axis.

(5), the gyro sensitive axes is on horizontal plane the time, carrier coordinate system does not axially overlap with three of geographic coordinate systems, calculates northern drift angle γ and adopts following analytic method, and the process of introducing coordinate system OX ₁Y ₁Z ₁, OX ₂Y ₂Z ₂

Carrier coordinate system is rotated through three Eulerian angles by geographic coordinate system and is formed (as shown in Figure 2), and azimuth γ, inclined angle alpha, roll angle β survey the required angle information that obtains for point:

Rotation process is as follows:

，

From geographic coordinate system OX ₀Y ₀Z ₀To carrier coordinate system OX ₃Y ₃Z ₃The attitude matrix equation be:

${\mathrm{<figure-callout\; id="0"\; label="C"\; filenames="HDA0000048349880000021.png"\; state="\{\{state\}\}">C</figure-callout>}}_0^3=\left[\begin{array}{ccc}\cos \mathrm{\&beta;}\cos \mathrm{\&gamma;}-\sin \mathrm{\&alpha;}\sin \mathrm{\&beta;}\sin \mathrm{\&gamma;}& \cos \mathrm{\&beta;}\sin \mathrm{\&gamma;}+\sin \mathrm{\&alpha;}\sin \mathrm{\&beta;}\cos \mathrm{\&gamma;}& -\cos \mathrm{\&alpha;}\sin \mathrm{\&beta;}\\ -\cos \mathrm{\&alpha;}\sin \mathrm{\&gamma;}& \cos \mathrm{\&alpha;}\cos \mathrm{\&gamma;}& \sin \mathrm{\&alpha;}\\ \sin \mathrm{\&beta;}\cos \mathrm{\&gamma;}+\sin \mathrm{\&alpha;}\cos \mathrm{\&beta;}\sin \mathrm{\&gamma;}& \sin \mathrm{\&beta;}\sin \mathrm{\&gamma;}-\sin \mathrm{\&alpha;}\cos \mathrm{\&beta;}\cos \mathrm{\&gamma;}& \cos \mathrm{\&alpha;}\cos \mathrm{\&beta;}\end{array}\right]$

Gyro sensitive axes sensitivity to rotational-angular velocity of the earth be:

In the following formula: ω _X3For postrotational rotational-angular velocity of the earth for the third time at X ₃Component on the axle; ω _Y3For postrotational rotational-angular velocity of the earth for the third time at Y ₃Component on the axle; ω _X3For postrotational rotational-angular velocity of the earth for the third time at Z ₃Component on the axle;

The gyro sensitive signal is resolved on the horizontal direction, and then earth rotation spin velocity horizontal component signal indication is:

$\left[\begin{array}{c}{\mathrm{\&omega;}}_{x1}\\ {\mathrm{\&omega;}}_{y1}\\ {\mathrm{\&omega;}}_{z1}\end{array}\right]=\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\&alpha;}& -\sin \mathrm{\&alpha;}\\ 0& \sin \mathrm{\&alpha;}& \cos \mathrm{\&alpha;}\end{array}\right]\left[\begin{array}{ccc}\cos \mathrm{\&beta;}& 0& \sin \mathrm{\&beta;}\\ 0& 1& 0\\ -\sin \mathrm{\&beta;}& 0& \cos \mathrm{\&beta;}\end{array}\right]\left[\begin{array}{c}{\mathrm{\&omega;}}_{x3}\\ {\mathrm{\&omega;}}_{y3}\\ {\mathrm{\&omega;}}_{z3}\end{array}\right]$

$=\left[\begin{array}{c}{\mathrm{\&omega;}}_{x3}\cos \mathrm{\&beta;}+{\mathrm{\&omega;}}_{z3}\sin \mathrm{\&beta;}\\ {\mathrm{\&omega;}}_{x3}\sin \mathrm{\&alpha;}\sin \mathrm{\&beta;}+{\mathrm{\&omega;}}_{y3}\cos \mathrm{\&alpha;}-{\mathrm{\&omega;}}_{z3}\sin \mathrm{\&alpha;}\cos \mathrm{\&beta;}\\ -{\mathrm{\&omega;}}_{x3}\cos \mathrm{\&alpha;}\sin \mathrm{\&beta;}+{\mathrm{\&omega;}}_{y3}\sin \mathrm{\&alpha;}+{\mathrm{\&omega;}}_{z3}\cos \mathrm{\&alpha;}\cos \mathrm{\&beta;}\end{array}\right]$

In the following formula: ω _X1For postrotational spin velocity for the first time at X ₁Component on the axle; ω _Y1For postrotational spin velocity for the first time at Y ₁Component on the axle; ω _Z1For postrotational spin velocity for the first time at Z ₁Component on the axle;

The table signal resolution formula that adds that is detected by quartz accelerometer is:

$A_g={\mathrm{<figure-callout\; id="0"\; label="C"\; filenames="HDA0000048349880000021.png"\; state="\{\{state\}\}">C</figure-callout>}}_0^3{A}_0=\left[\begin{array}{c}-g\cos \mathrm{\&alpha;}\sin \mathrm{\&beta;}\\ g\sin \mathrm{\&alpha;}\\ g\cos \mathrm{\&alpha;}\cos \mathrm{\&beta;}\end{array}\right]---\left(2\right)$

In the following formula: A _gBe the component of acceleration of gravity on three axles after three rotations; A ₀Acceleration of gravity is not at the component of three axles when rotating;

Bring above-mentioned each parameter into following formula, calculate azimuth γ, inclined angle alpha and the roll angle β of well:

$\mathrm{\&gamma;}=\arctan \frac{w_{x1}}{w_{y1}},$

$\mathrm{\&alpha;}=\arcsin \left(\frac{A_{\mathrm{yg}}}{g}\right),$

$\mathrm{\&beta;}=\arcsin (-\frac{A_{\mathrm{xg}}}{g\cos \mathrm{\&alpha;}});$

In above-mentioned: A _YgBe Y-axis acceleration measuring value; A _XgBe X-axis acceleration measuring value.

(6) azimuth γ, inclined angle alpha and roll angle β are kept in the computer, and go out well track figure by computer drawing; Just can obtain the track of institute's drilling well eye by well track figure.

Explanation is at last, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although with reference to preferred embodiment the present invention is had been described in detail, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.

Claims (1)

1. a method of utilizing gyrolevel point well logging eye is characterized in that, the method comprises the steps:

(1), gyrolevel that two double freedom flexure gyroscopes and biquartz accelerometer will be housed is fixed on the carrier, and stretches in the well with carrier;

(2), set up geographic coordinate system and carrier coordinate system:

Geographic coordinate system

: according to the position of the gyrolevel place earth, X ₀Axle and Y ₀Axle in geographical horizontal plane, X ₀Axle points to east, Y ₀The axle energized north, Z ₀Axle vertically points to towards the sky, and consists of right-handed coordinate system;

Carrier coordinate system : gyrolevel X ₃Axle refers to the right side, gyrolevel Y ₃Before axle refers to, gyrolevel Z ₃Axle vertically points to towards the sky, and consists of right-handed coordinate system;

There are an azimuth in described carrier coordinate system and geographic coordinate system

, the azimuth

For in the carrier coordinate system Y ₃Axle is in the projection of horizontal plane and the geographic coordinate system Y ₀The angle of axle;

(3), the rotational-angular velocity of the earth of gyrolevel detection exists XAxle and YThe component of axle:

In the following formula:

Be carrier location latitude; North component for rotational-angular velocity of the earth;

For rotational-angular velocity of the earth exists XComponent on the axle;

For rotational-angular velocity of the earth exists YComponent on the axle; G represents carrier coordinate system;

(4), two torquer sensitive axes of gyro are applied certain electric current, make the precession of gyro main shaft follow the tracks of earth rotation, when gyroscopic procession angular velocity and rotational-angular velocity of the earth component equate, by the relation of torquer electric current and angular velocity of precession:

, calculate the azimuth

:

In the following formula:

It is an electric current that the torquer sensitive axes applies;

The electric current that applies for another torquer sensitive axes; For XThe constant multiplier of axle;

For YThe constant multiplier of axle;

(5), with geographic coordinate system

Around Z ₀Axle rotates an azimuth

After obtain coordinate system

, again with coordinate system

Around X ₁Axle rotates an angle of slope

After obtain coordinate system , at last with coordinate system

Around Y ₂Axle rotates a roll angle

Obtain carrier coordinate system

By geographic coordinate system

Rotate to carrier coordinate system three times

The attitude matrix equation:

?；

Gyroscope sensitive axes sensitivity to rotational-angular velocity of the earth be:

In the following formula:

For postrotational rotational-angular velocity of the earth for the third time exists X ₃Component on the axle;

For postrotational rotational-angular velocity of the earth for the third time exists Y ₃Component on the axle;

For postrotational rotational-angular velocity of the earth for the third time exists Z ₃Component on the axle;

The gyro sensitive signal is decomposed on the horizontal direction, and then earth rotation horizontal component signal indication is:

In the following formula:

For postrotational rotational-angular velocity of the earth for the first time exists X ₁Component on the axle; For postrotational rotational-angular velocity of the earth for the first time exists Y ₁Component on the axle;

For postrotational rotational-angular velocity of the earth for the first time exists Z ₁Component on the axle;

The table signal resolution formula that adds that is detected by quartz accelerometer is:

In the following formula: Be the component of acceleration of gravity on three axles after three rotations;

Acceleration of gravity is not at the component of three axles when rotating;

Bring above-mentioned each parameter into following formula, calculate the azimuth of well

, the angle of slope

And roll angle

:

In above-mentioned:

For YThe axis accelerometer measured value;

For XThe axis accelerometer measured value;

(6) with the azimuth , the angle of slope

And roll angle

Be kept in the computer, and go out well track figure by computer drawing; Just can obtain the track of institute's drilling well eye by well track figure.

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