CN102536208A - Device and method for temperature compensation of accelerometer and fluxgate for underground directional-measuring instrument - Google Patents
Device and method for temperature compensation of accelerometer and fluxgate for underground directional-measuring instrument Download PDFInfo
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- CN102536208A CN102536208A CN201110461007XA CN201110461007A CN102536208A CN 102536208 A CN102536208 A CN 102536208A CN 201110461007X A CN201110461007X A CN 201110461007XA CN 201110461007 A CN201110461007 A CN 201110461007A CN 102536208 A CN102536208 A CN 102536208A
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Abstract
The invention relates to a device and method for the temperature compensation of an accelerometer and a fluxgate for an underground directional-measuring instrument. The device comprises a multi-path analog switch, an AD (Analog to Digital) converting circuit and a singlechip, wherein the multi-path analog switch is connected with the AD converting circuit and the singlechip, and the AD converting circuit is connected with the singlechip; and the multi-path analog switch is also connected with an X-axis accelerometer-measuring circuit, a Y-axis accelerometer-measuring circuit, a Z-axis accelerometer-measuring circuit, an X-axis fluxgate-measuring circuit, a Y-axis fluxgate-measuring circuit, a Z-axis fluxgate-measuring circuit and a temperature-measuring circuit of the underground directional-measuring instrument, and the singlechip is also connected with an outward interface of the underground directional-measuring instrument. The technical problem that the measuring precision of the traditional accelerometer and the traditional fluxgate is influenced by temperature change is solved.
Description
Technical field
The present invention relates to a kind of downhole orientation measuring apparatus acceleration and take into account fluxgate temperature compensation means and method.
Background technology
In the various attitude angle measurement processes of oil drilling industry; Need to use accelerometer and fluxgate sensor to realize the measurement in gravitational field and earth's magnetic field; And through the measurement of certain mathematical model method realization orientation parameter, the i.e. measurement of hole angle, azimuth, tool face azimuth, Magnetic tools face angle, gravitational field total amount and earth's magnetic field total amount.
In the oil drilling industry, it is more that well track is measured used instrument, and present measurement while drilling mainly adopts accelerometer and fluxgate sensor to form measuring unit jointly and measures.In the drilling measuring process,, thereby cause acceleration to take into account the variation of the certainty of measurement that fluxgate produces because of variations in temperature along with the increase temperature of well depth also can increase accordingly.It is as shown in Figure 1 that traditional acceleration is taken into account the fluxgate measuring circuit, and three acceleration are taken into account the variation that certainty of measurement all can take place with variation of temperature three fluxgate sensors; Except that the certainty of measurement of accelerometer itself changed, accelerometer measures circuit, fluxgate measuring circuit, voltage reference and AD conversion etc. all can be with variations in temperature, thereby certainty of measurement is exerted an influence.
Summary of the invention
Take into account the technical problem that the certainty of measurement of fluxgate receives influence of temperature change in order to solve traditional acceleration, the present invention provides downhole orientation measuring apparatus acceleration to take into account the fluxgate temperature compensation means.
Take into account the technical problem that the certainty of measurement of fluxgate receives influence of temperature change in order to solve traditional acceleration, the present invention also provides downhole orientation measuring apparatus acceleration to take into account the fluxgate temperature compensation.
The technical scheme that the present invention adopted is: downhole orientation measuring apparatus acceleration is taken into account the fluxgate temperature compensation means; Comprise multiway analog switch, A/D convertor circuit and single-chip microcomputer; Multiway analog switch is connected with A/D convertor circuit and single-chip microcomputer, and A/D convertor circuit is connected with single-chip microcomputer; Wherein multiway analog switch also is connected with X axis accelerometer measuring circuit, Y axis accelerometer measuring circuit, Z axis accelerometer measuring circuit, X axis fluxgate measuring circuit, Y axis fluxgate measuring circuit, Z axis fluxgate measuring circuit and the temperature measuring circuit of downhole orientation measuring apparatus, and single-chip microcomputer also is connected with the external interface of downhole orientation measuring apparatus.
Take into account the temperature compensation of fluxgate temperature compensation means based on above-mentioned downhole orientation measuring apparatus acceleration, may further comprise the steps:
S1, read the output valve of A/D convertor circuit;
S2, read the temperature output valve of temperature measuring circuit;
S3, judge whether the temperature output valve exceeds temperature compensation range, if, then change step S4 if not over to then through external interface output error sign indicating number;
S4, according to the temperature output valve, adopt the temperature-compensating formula of accelerometer zero-bit, the temperature-compensating formula of accelerometer response, the temperature-compensating formula of Magnetic Sensor zero-bit, the temperature-compensating formula of Magnetic Sensor sensitivity to calculate corresponding temperature compensation parameter respectively;
The output valve of S5, the A/D convertor circuit that reads according to step S1 and the temperature compensation parameter of step S4 gained calculate the output numerical value that acceleration after the compensation is taken into account fluxgate;
The temperature-compensating formula of said accelerometer zero-bit is: G0 (t)=b0+b1*t+b2*t
2The temperature-compensating formula of accelerometer response is: GS (t)=f0+f1*t+f2*t
2The temperature-compensating formula of Magnetic Sensor zero-bit is: BO (t)=B0+B1*t+B2*t
2The temperature-compensating formula of Magnetic Sensor sensitivity is: BS (t)=F0+F1*t+F2*t
2
The conic section that the temperature-compensating formula of said accelerometer zero-bit, the temperature-compensating formula of accelerometer response fit to respectively with least square method for the accelerometer zero-bit that will under condition of different temperatures, record and sensitivity; The conic section that the temperature-compensating formula of Magnetic Sensor zero-bit and the temperature-compensating formula of Magnetic Sensor sensitivity fit to respectively with least square method for the fluxgate zero-bit that will record at diverse location under the condition of different temperatures and sensitivity.
Said temperature compensation range is between-20 ℃～175 ℃.
Said temperature compensation parameter is kept in the nonvolatile memory of circuit.
The temperature survey point of said accelerometer zero-bit and sensitivity comprises: 25 ℃, 70 ℃, 85 ℃, 105 ℃, 125 ℃, 150 ℃ and 175 ℃.
Compared with prior art; Advantage of the present invention and beneficial effect are: can demarcate the temperature coefficient that acceleration is taken into account fluxgate; And then obtain zero-bit and the sensitivity that acceleration is taken into account fluxgate; Further calculate the temperature compensation parameter of each sensor again, finally realize temperature-compensating, eliminated temperature drift influence that certainty of measurement produced according to the output valve of A/D convertor circuit.In addition, temperature compensation parameter can followingly install in the non-volatile sensor in the device.
Description of drawings
Fig. 1 is the circuit diagram of traditional downhole orientation measuring apparatus;
Fig. 2 is the circuit diagram that acceleration of the present invention is taken into account the fluxgate temperature compensation means;
Fig. 3 is an embodiment of the invention temperature-compensating checking location point, and 4+4x4x4=68 location point is provided altogether;
Fig. 4 is the flow chart of temperature-compensating of the present invention.
The specific embodiment
Below in conjunction with embodiment and accompanying drawing the present invention is described in further detail, but embodiment of the present invention is not limited thereto.
Embodiment
It is as shown in Figure 2 that the acceleration that this instance adopted is taken into account the fluxgate measuring circuit.Traditional downhole orientation measuring apparatus comprises fluxgate exciting circuit, BX sensor, BY sensor, BZ sensor, X axis fluxgate measuring circuit, Y axis fluxgate measuring circuit, Z axis fluxgate measuring circuit, GX sensor, GY sensor, GZ sensor, X axis accelerometer measuring circuit, Y axis accelerometer measuring circuit, Z axis accelerometer measuring circuit, temperature pick up and temperature measuring circuit; The GX sensor is connected with X axis accelerometer measuring circuit; The GY sensor is connected with Y axis accelerometer measuring circuit; The GZ sensor is connected with Z axis accelerometer measuring circuit; The fluxgate exciting circuit is connected with BX sensor, BY sensor and BZ sensor; The BX sensor is connected with X axis fluxgate measuring circuit; The BY sensor is connected with Y axis fluxgate measuring circuit; The BZ sensor is connected with Z axis fluxgate measuring circuit, and temperature pick up is connected with temperature measuring circuit, and X axis fluxgate measuring circuit, Y axis fluxgate measuring circuit, Z axis fluxgate measuring circuit, axis accelerometer measuring circuit, Y axis accelerometer measuring circuit, Z axis accelerometer measuring circuit and temperature measuring circuit are connected with external interface.The present invention takes into account on the basis of fluxgate measuring circuit at traditional acceleration; The SCM peripheral circuit of having set up multiway analog switch, A/D convertor circuit, single-chip microcomputer and being connected with single-chip microcomputer; Wherein multiway analog switch is connected with X axis accelerometer measuring circuit, Y axis accelerometer measuring circuit, Z axis accelerometer measuring circuit, X axis fluxgate measuring circuit, Y axis fluxgate measuring circuit, Z axis fluxgate measuring circuit, temperature measuring circuit, A/D convertor circuit and single-chip microcomputer; A/D convertor circuit is connected with single-chip microcomputer; Single-chip microcomputer uses 3 IO mouths processes to decipher the gating of each the road analog signal that realizes exporting for multiway analog switch in the back; 3 IO effected 8 are selected 1 back input A/D convertor circuit, and single-chip microcomputer is connected externally output interface of conduct with external serial line interface simultaneously.
In temperature-compensating overall procedure of the present invention, need obtain the temperature coefficient of acceleration and the temperature coefficient of fluxgate earlier.
ACTE coefficients by using extremum method is demarcated.Maximum value position and its output valve of minimum value location records of promptly exporting at each sensor, and according to its parameter of output valve calculating.Six positions of the temperature coefficient of extremum method demarcation accelerometer are as shown in table 1, and the temperature survey point comprises: 25 ℃, 70 ℃, 85 ℃, 105 ℃, 125 ℃, 150 ℃ and 175 ℃.
Table 1 accelerometer data collection position
| Numbering | Hole deviation | Tool-face | Recording parameters |
| 1 | 0±0.5° | X | GZ |
| 2 | 180±0.5° | X | GZ |
| 3 | 90±0.5° | 0±0.5° | GX |
| 4 | 90±0.5° | 90±0.5° | GY |
| 5 | 90±0.5° | 180±0.5° | GX |
| 6 | 90±0.5° | 270±0.5° | GY |
Under 25 ℃, 70 ℃, 85 ℃, 105 ℃, 125 ℃, 150 ℃ and 175 ℃ of condition of different temperatures, needed 6 positions of temperature coefficient of measuring fluxgate are as shown in table 2.
Table 2 Magnetic Sensor data acquisition position
| Sequence number | Hole deviation | The azimuth | The tool face azimuth |
| 1 | 90 | 90 | Magnetic dip angle-90 |
| 2 | 90 | 90 | Magnetic dip angle |
| 3 | 90 | 90 | Magnetic dip angle+90 |
| 4 | 90 | 90 | Magnetic dip angle-180 |
| 5 | The 90- |
0 | Arbitrarily |
| 6 | The 90+ |
180 | Arbitrarily |
Demarcate through extremum method, under condition of different temperatures, record the maximum value GXmax and the minimum value GXmin of accelerometer output, calculate accelerometer zero-bit GX0 and accelerometer response GXS with following formula:
Diverse location records maximum value BXmax and the minimum value BXmin of fluxgate output under condition of different temperatures, and records the magnetic induction density B a of laboratory environment with magnetometer, with following formula calculating fluxgate zero-bit BX0 and fluxgate sensitivity BXS:
Though can adopt select for use temperature parameter near and the relative accuracy of the calculating angle of the sensor in the certain difference scope after guaranteeing to measure.But gravitational field total amount and magnetic field total amount measurement meeting cause bigger difference because of variation of temperature.Temperature mainly influences the zero-bit and the sensitivity of accelerometer and fluxgate.
Present embodiment fits to conic section with fluxgate zero-bit and the sensitivity that diverse location under the accelerometer zero-bit that records under the condition of different temperatures and sensitivity, the condition of different temperatures records respectively with least square method, obtains formula 5-8:
The temperature-compensating formula of accelerometer zero-bit is: G0 (t)=b0+b1*t+b2*t
2Formula 5
The temperature-compensating formula of accelerometer response is: GS (t)=f0+f1*t+f2*t
2Formula 6
The temperature-compensating formula of Magnetic Sensor zero-bit is: BO (t)=B0+B1*t+B2*t
2Formula 7
The temperature-compensating formula of Magnetic Sensor sensitivity is: BS (t)=F0+F1*t+F2*t
2Formula 8
The calculating of above formula is by downhole orientation measuring apparatus chip microcontroller, and a calculating gained result stores in the memory space of single-chip microcomputer.
In described position 1 of table 1 and position 2; Select 25 ℃, 70 ℃, 85 ℃, 105 ℃, 125 ℃, 150 ℃ and 175 ℃ of temperature spots to measure the output valve of two positions; The accelerometer zero-bit and the sensitivity that utilize formula 1 and formula 2 to calculate different temperature points respectively, the zero-bit of 5 temperature spots and sensitivity data fit to formula 5 and formula 6 respectively; Confirmed the temperature-compensating of accelerometer GZ axle with the method, GX axle and GY axle are roughly the same.B0, b1, b2 are the coefficient of accelerometer zero-bit conic section, and f0, f1, f2 are the coefficient of accelerometer response conic section.
In described position 1 of table 2 and position 2; Select 25 ℃, 70 ℃, 85 ℃, 105 ℃, 125 ℃, 150 ℃ and 175 ℃ of temperature spots to measure the output valve of two positions; The fluxgate zero-bit and the sensitivity that utilize formula 3 and formula 4 to calculate diverse location respectively, the zero-bit of 5 temperature spots and sensitivity data fit to formula 7 and formula 8 respectively; Confirmed the temperature-compensating of accelerometer BZ axle with the method, BX axle and BY axle are roughly the same.B0, B1, B2 are the coefficient of fluxgate zero-bit conic section, and F0, F1, F2 are the coefficient of fluxgate sensitivity conic section.
Install in the nonvolatile memory of single-chip microcomputer down behind coefficient b0, b1, b2 and f0, f1, the f2.
As shown in Figure 2, present embodiment realizes that the main flow process of temperature-compensating may further comprise the steps:
S1, read the AD conversion value, promptly read the output valve of A/D convertor circuit.In the original AD conversion value that is read, comprise because the error that temperature drift brought of sensor and circuit.Temperature-compensating promptly is the temperature drift of wanting compensation sensor and circuit.
The temperature output valve of S2, reading temperature sensor.The temperature output valve of temperature pick up is exported by temperature measuring circuit.
S3, judge whether the temperature output valve exceeds temperature compensation range, if, then change step S4 if not over to then through external interface output error sign indicating number.Said temperature compensation range is between-20 ℃～175 ℃.
S4, according to temperature output valve accounting temperature compensating parameter.The temperature data that arrives according to temperature sensor measurement; Adopt the temperature-compensating formula of accelerometer zero-bit as stated, the temperature-compensating formula of accelerometer response, the temperature-compensating formula of Magnetic Sensor zero-bit, the temperature-compensating formula of Magnetic Sensor sensitivity to calculate corresponding temperature compensation parameter respectively; Corresponding 2 temperature compensation parameters of each sensor, 3 acceleration are taken into account 3 fluxgate sensors totally 12 temperature compensation parameters.
The output valve of S5, the A/D convertor circuit that reads according to step S1 and the temperature compensation parameter of step S4 gained calculate the output numerical value that acceleration after the compensation is taken into account fluxgate.These data are taken into account fluxgate numerical value for the acceleration through temperature-compensating.
Acceleration after S6, the output compensation is taken into account the output numerical value of fluxgate.
More than take into account fluxgate numerical value and externally export, finally offer the user and be used for engineering survey and judgement through external digital interface through the acceleration of temperature-compensating.After acceleration after being compensated is taken into account the output numerical value of fluxgate; In order to verify the correctness of output numerical value; Can under 68 location point conditions shown in the accompanying drawing 3, do the measurement under the condition of different temperatures, survey mark comprises 25 ℃, 85 ℃, 105 ℃, 125 ℃, 150 ℃, 175 ℃.
The foregoing description is a preferred implementation of the present invention; But embodiment of the present invention is not restricted to the described embodiments; Other any do not deviate from change, the modification done under spirit of the present invention and the principle, substitutes, combination, simplify; All should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (5)
1. downhole orientation measuring apparatus acceleration is taken into account the fluxgate temperature compensation means, it is characterized in that, comprises multiway analog switch, A/D convertor circuit and single-chip microcomputer, and multiway analog switch is connected with A/D convertor circuit and single-chip microcomputer, and A/D convertor circuit is connected with single-chip microcomputer; Wherein multiway analog switch also is connected with X axis accelerometer measuring circuit, Y axis accelerometer measuring circuit, Z axis accelerometer measuring circuit, X axis fluxgate measuring circuit, Y axis fluxgate measuring circuit, Z axis fluxgate measuring circuit and the temperature measuring circuit of downhole orientation measuring apparatus, and single-chip microcomputer also is connected with the external interface of downhole orientation measuring apparatus.
2. take into account the temperature compensation of fluxgate temperature compensation means based on the said downhole orientation measuring apparatus of claim 1 acceleration, it is characterized in that, may further comprise the steps:
S1, read the output valve of A/D convertor circuit;
S2, read the temperature output valve of temperature measuring circuit;
S3, judge whether the temperature output valve exceeds temperature compensation range, if, then change step S4 if not over to then through external interface output error sign indicating number;
S4, according to the temperature output valve, adopt the temperature-compensating formula of accelerometer zero-bit, the temperature-compensating formula of accelerometer response, the temperature-compensating formula of Magnetic Sensor zero-bit, the temperature-compensating formula of Magnetic Sensor sensitivity to calculate corresponding temperature compensation parameter respectively;
The output valve of S5, the A/D convertor circuit that reads according to step S1 and the temperature compensation parameter of step S4 gained calculate the output numerical value that acceleration after the compensation is taken into account fluxgate;
The temperature-compensating formula of said accelerometer zero-bit is: G0 (t)=b0+b1*t+b2*t
2The temperature-compensating formula of accelerometer response is: GS (t)=f0+f1*t+f2*t
2The temperature-compensating formula of Magnetic Sensor zero-bit is: BO (t)=B0+B1*t+B2*t
2The temperature-compensating formula of Magnetic Sensor sensitivity is: BS (t)=F0+F1*t+F2*t
2
The conic section that the temperature-compensating formula of said accelerometer zero-bit, the temperature-compensating formula of accelerometer response fit to respectively with least square method for the accelerometer zero-bit that will under condition of different temperatures, record and sensitivity; The conic section that the temperature-compensating formula of Magnetic Sensor zero-bit and the temperature-compensating formula of Magnetic Sensor sensitivity fit to respectively with least square method for the fluxgate zero-bit that will record at diverse location under the condition of different temperatures and sensitivity.
3. temperature compensation according to claim 2 is characterized in that, said temperature compensation range is between-20 ℃～175 ℃.
4. temperature compensation according to claim 2 is characterized in that said temperature compensation parameter is kept in the nonvolatile memory of circuit.
5. temperature compensation according to claim 2 is characterized in that, the temperature survey point of said accelerometer zero-bit and sensitivity comprises: 25 ℃, 70 ℃, 85 ℃, 105 ℃, 125 ℃, 150 ℃ and 175 ℃.
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| CN109268001B (en) * | 2018-08-13 | 2022-02-01 | 中国石油天然气集团有限公司 | Detection device and method for measuring self-rotation angle of horizontal main ground stress direction while drilling |
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| CN110632345A (en) * | 2019-09-03 | 2019-12-31 | 北京理工大学 | Accelerometer output zero Preisach model compensation method and device |
| CN112798993A (en) * | 2021-04-08 | 2021-05-14 | 中国电子科技集团公司第九研究所 | Device and method for measuring temperature coefficient of permanent magnet material based on accelerometer |
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