CN102748010B - Attitude measurement system and method and oil well well track measuring system and method - Google Patents

Abstract

The invention discloses one utilizes two axis gyroscope continuous measurement to be in the method and system of the attitude of gravitational field rigid support (100) and the system and method for continuous measurement oil well well track, and the system of described two axis gyroscope continuous measurement attitude comprises: gyrosensor (200), accelerometer (300) and computing unit (500).The present invention had both overcome gyro point and had surveyed complex operation and drawback consuming time, avoid again three axle gyro continuous measurement external diameters large and the deficiency that hardware cost is high, the continuous measurement of oil well track can be realized in rigid support (100) motion process, shorten log-time, improve logging efficiency, reduce hardware manufacturing cost.

Description

Attitude measurement system and method and oil well well track measuring system and method

Technical field

The present invention relates to field of inertia measurement, and particularly relate to and utilize two axis gyroscope continuous measurement to be in the method and system of gravitational field rigid support attitude and the method and system of continuous measurement oil well well track.

Background technology

In order to tackle the day by day increase of World Economics to oil demand, further important to the accurate and high efficiency measurement of oil well well track in production logging, this just needs the instrument that precision is high and logging efficiency is high.Just can obtain oil well well track by measuring the attitude being in oil well well Instrumental, the attitude of instrument is uniquely determined by three parameters: angle of slope, azimuth and high corner.As shown in Figure 1, angle of slope refers to the central axis of instrument and the angle of local vertical direction; Azimuth refers to points to center axial ray bottom instrument and local warp north orientation clockwise corner in the horizontal plane by instrument tip; High corner refers to from instrument tip to bottom, the clockwise angle of the reference line of tool housing and instrument ceiling for accumulation in local vertical direction.Well track of logging well in current each oil field at home mainly contains two kinds and measures azimuthal methods: one is utilize fluxgate sensor, and two is utilize gyrosensor.A kind of front method requires must not have other magnetic fields or magnetic medium except earth's magnetic field in working environment, so under its scope of application is limited in only having the environment in earth's magnetic field.A kind of rear method is not to the rigors of environment, so range of application is relatively extensive, and no matter open hole well or cased well all can normally work.

When present stage utilizes second method to log well, the method that gyro point is surveyed on the one hand, under the method requires to make its rigid support (rigid support on instrument) remain static when gyro to measure, stop and motion due to rigid support repeatedly will be allowed in logging operation, therefore this measuring method operation is very loaded down with trivial details and consuming time, efficiency is very low, and can with the reduction of measuring spacing, and operational ton and meeting consuming time are multiplied, the method of employing three axle gyro continuous measurement on the other hand, the method require with two orthogonal directions of rigid support central axis on and rigid support central axis direction is arranged respectively the angular velocity sensitive axes of a gyrosensor, first under rigid support inactive state, measure its initial attitude (comprise azimuth, angle of slope and high corner), then rigid support is made to move continuously, three angular velocity are axially measured by the angular velocity sensitive axes being respectively in three gyrosensors axially, calculate rigid support at any time time the angle that changes in three axial directions relative to initial time, thus calculate the attitude of rigid support when this any time.Although the method solves gyro point and surveys complex operation and problem consuming time, but because the angular velocity sensitive axes of a gyrosensor must be arranged on the central axis direction of rigid support, and this just causes the external diameter of three axle gyro continuous measurement instruments to increase under existing technical condition, so it can only be used for the oil well measuring large hole, and hardware manufacturing cost is very high.

Summary of the invention

Complex operation is surveyed and drawback consuming time for overcoming gyro point, avoid three axle gyro continuous measurement external diameters large and the deficiency that hardware cost is high simultaneously, the present invention spy provide a kind of system utilizing two axis gyroscope continuous measurement to be in the attitude of gravitational field rigid support, this system comprises: gyrosensor, this gyrosensor and described rigid support are rigidly connected and two of gyrosensor angular velocity sensitive axes and described rigid support orthogonality of center shaft, the angular velocity on two the angular velocity sensitive axes directions measuring gyrosensor; Accelerometer, is rigidly connected with described rigid support, for measuring the angle of slope of rigid support and high corner; Computing unit, for according to the angular velocity of rigid support on the angle of slope of initial time, high corner and azimuth, the high corner of any time and two angular velocity sensitive axes directions in the time period from initial time to any time measured by gyrosensor, calculate rigid support azimuth at any time, afterwards in conjunction with the rigid support measured by accelerometer in the angle of slope of this any time and high corner, determine the attitude of rigid support in this any time.

The present invention separately provides a kind of method utilizing two axis gyroscope sensor continuous measurement attitude, and the method comprises: determine rigid support at the angle of slope of initial time, high corner and azimuth; Gyrosensor and described rigid support are rigidly connected and two of gyrosensor angular velocity sensitive axes and described rigid support orthogonality of center shaft, measure the angular velocity on two angular velocity sensitive axes directions of gyrosensor; Measure rigid support angle of slope at any time and high corner; According to the angular velocity on the angle of slope of rigid support initial time, high corner and azimuth, the high corner of any time and two angular velocity sensitive axes directions in the time period from initial time to any time measured by gyrosensor, calculate rigid support azimuth at any time; And in conjunction with rigid support at the angle of slope of described any time, high corner and azimuth, determine the attitude of rigid support in described any time.

Corresponding, apply the present invention to obtain in oil well logging a kind of system and method utilizing the continuous logging of two axis gyroscope sensor, measurement oil well well track that logging efficiency is high.

The system of continuous measurement oil well well track provided by the invention comprises: rigid support, and this rigid support moves along oil well well track; Gyrosensor, is rigidly connected with described rigid support and two of gyrosensor angular velocity sensitive axes and described rigid support orthogonality of center shaft, the angular velocity on two the angular velocity sensitive axes directions measuring gyrosensor; Accelerometer, is rigidly connected with described rigid support, measures and is in the angle of slope of the rigid support of gravitational field and high corner; Depth survey unit, for measuring the not present in the same time degree of depth of described rigid support; Computing unit, for according to the angular velocity of rigid support on the angle of slope of initial time, high corner and azimuth, the high corner of any time and two angular velocity sensitive axes directions in the time period from initial time to any time measured by gyrosensor, calculate rigid support azimuth at any time, afterwards in conjunction with the rigid support measured by accelerometer in the angle of slope of this any time and high corner, determine the attitude of rigid support in this any time; Repeat above-mentioned deterministic process, determine the attitude of rigid support in multiple continuous moment, in conjunction with the degree of depth of the rigid support measured by described depth survey unit in described multiple continuous moment, determine well track.

The invention provides a kind of method of continuous measurement oil well well track, the method comprises the following steps: step S1: rigid support is transferred to target depth position to be logged well; Step S2: under static state, measures rigid support at initial time t ₀angle of slope, high corner and azimuth; Step S3: rigid support is moved continuously along oil well well track; Step S4: according to the above-mentioned method utilizing two axis gyroscope sensor continuous measurement attitude, determine rigid support attitude at any time; Step S5: measure the degree of depth of rigid support residing for described any time; And step S6: repeat step S3-S5, obtain rigid support in the attitude in multiple continuous moment and the corresponding degree of depth, to determine the well track of oil well.

The attitude utilizing two axis gyroscope continuous measurement to be in the rigid support of gravitational field of the present invention, adopt the method that two axis gyroscope is combined with accelerometer, make two of gyrosensor angular velocity sensitive axes and described rigid support orthogonality of center shaft, first make rigid support static, to measure the initial inclination of rigid support, high corner and azimuth; Then rigid support is made to move continuously, angular velocity on two the angular velocity sensitive axes directions utilizing gyrosensor measurement to obtain is in conjunction with the high corner of any time and the initial inclination calculated, high corner and azimuth, just can by calculating the azimuth of the rigid support of any time, afterwards in conjunction with angle of slope and the high corner of this any time measured by accelerometer, determine the attitude of rigid support in this any time.The present invention had both overcome gyro point and had surveyed complex operation and drawback consuming time, avoid again three axle gyro continuous measurement external diameters large and the deficiency that hardware cost is high, the continuous measurement of oil well track can be realized in rigid support motion process, shorten log-time, improve logging efficiency, reduce hardware manufacturing cost.

Accompanying drawing explanation

Fig. 1 shows the schematic diagram of three parameters determining rigid support attitude;

Fig. 2 is the structural representation of the system of two axis gyroscope continuous measurement attitude of the present invention;

Fig. 3 is the installation relation schematic diagram between gyrosensor and rigid support;

Fig. 4 a and Fig. 4 b respectively illustrates gyro coordinate system and earth axes;

The spatial relationship of earth axes and gyro coordinate system when Fig. 5 shows rigid support any attitude;

Fig. 6 show rigid support at initial time and any time the position in gyro coordinate system;

Fig. 7 is the flow chart of the method for two axis gyroscope continuous measurement attitude of the present invention;

Fig. 8 is the structural representation of the system of continuous measurement oil well well track of the present invention; And

Fig. 9 is the flow chart of the method for continuous measurement oil well well track of the present invention.

Detailed description of the invention

Below with reference to the accompanying drawings the present invention is described in detail.

As shown in Figure 2, the invention provides a kind of system utilizing two axis gyroscope continuous measurement to be in the attitude of gravitational field rigid support 100, this system comprises: gyrosensor 200, this gyrosensor 200 is rigidly connected and two angular velocity sensitive axes of gyrosensor 200 and described rigid support 100 orthogonality of center shaft (referring to Fig. 3) with described rigid support 100, the angular velocity on two the angular velocity sensitive axes directions measuring gyrosensor 200; Accelerometer 300, is rigidly connected with described rigid support 100, for measuring the angle of slope of rigid support 100 and high corner; Computing unit 500, for according to the angular velocity of rigid support 100 on the angle of slope of initial time, high corner and azimuth, the high corner of any time and two angular velocity sensitive axes directions in the time period from initial time to any time measured by gyrosensor 200, calculate rigid support 100 azimuth at any time, afterwards in conjunction with the rigid support 100 measured by accelerometer 300 in the angle of slope of this any time and high corner, determine the attitude of rigid support 100 in this any time.

Wherein, describedly to comprise according to angular speed calculation rigid support 100 azimuth at any time of rigid support 100 on the angle of slope of initial time, high corner and azimuth, the high corner of any time and two angular velocity sensitive axes directions in the time period from initial time to any time measured by gyrosensor 200:

(1) when calculating t by following relational expression gyrosensor 200 in the X-axis and Y direction of gyro coordinate system relative to t ₀the angle of time changing,

$\left\{\begin{array}{c}{\mathrm{\φ}}_x\left(t\right)=f_x(k_x,{\mathrm{\ω}}_x\left(t\right),{\mathrm{\φ}}_x\left(t_0\right))\\ {\mathrm{\φ}}_y\left(t\right)=f_y(k_y,{\mathrm{\ω}}_y\left(t\right),{\mathrm{\φ}}_y\left(t_0\right))\end{array}\right.$

Wherein, φ _x(t) and φ _ywhen () is respectively rigid support 100t moment t in the X-axis and Y direction of gyro coordinate system relative to t ₀the angle of time changing; k _xand k _yfor gyrosensor 200 angular velocity calibration factor; ω _x(t) and ω _yt () is the angular velocity on two angular velocity sensitive axes directions measured by gyrosensor 200 respectively, be the function of time t; φ _x(t ₀) and φ _y(t ₀) be rigid support 100t respectively ₀the angle turned in the X-axis of gyro coordinate system and Y direction during the moment; And

(2) according to the high corner of changed angle, any time and rigid support 100 at t ₀the angle of slope in moment, high corner and azimuth, calculate rigid support 100 at the azimuth of t.

Below introduce the method for two axis gyroscope continuous measurement rigid support attitude.

For ease of statement, first set up following two rectangular coordinate systems:

First coordinate system: gyro coordinate system, as shown in fig. 4 a, the intersection point O of the central axis and top of getting rigid support 100 is the origin of coordinates, X-axis is point to the reference line of rigid support 100 shell from O, Z axis is the central axis of rigid support 100, direction is point to bottom from the top of described rigid support, and Y-axis is the axle meeting the right-hand rule with X, Z axis, and this coordinate system and rigid support 100 are connected;

Second coordinate system: earth axes, as shown in Figure 4 b, the initial point of this coordinate system gets instrument location O _i, Z _iaxle points to the earth's core along local vertical, X _iaxle is from O _itangent line along local warp points to the north, Y _iaxle is from O _ithe tangent line prolonging local parallel points to east.

First the method utilizing gyro point to survey, can obtain rigid support initial time t ₀attitude: tiltangleθ, azimuth with high corner δ, rigid support 100t can be obtained by Fig. 5 ₀time the coordinate be engraved in gyro coordinate system be:

$\left[\begin{array}{c}{X}_{\mathrm{tl}}\left(t_0\right)\\ Y_{\mathrm{tl}}\left(t_0\right)\\ Z_{\mathrm{tl}}\left(t_0\right)\end{array}\right]=\left[\begin{array}{c}0\\ 0\\ L\end{array}\right]$

After any time t, rigid support 100 on X, Y and Z-direction of gyro coordinate system relative to t ₀the angle of time changing is respectively φ _x(t), φ _y(t) and φ _z(t), wherein φ _zt () can be deducted at initial time t by the accelerometer high corner that t records at any time ₀the high corner recorded obtains, φ _x(t) and φ _yt () can the angular speed calculation on two angular velocity sensitive axes directions measured by gyrosensor obtain.

When continuous measurement rigid support attitude, the angle that adjacent two attitudes of described rigid support change on X, Y and Z-direction of gyro coordinate system is very little, can be decomposed into and rotate corresponding angle around three axles of gyro coordinate system so rigid support 100 is transformed into second attitude from first attitude respectively and obtain, as shown in Figure 6, according to the matrix notation relation of coordinate system transformation, initial time t ₀time rigid support at any time t time coordinate be,

$\left[\begin{array}{c}{X}_{\mathrm{tl}}^{\′}\left(t_0\right)\\ Y_{\mathrm{tl}}^{\′}\left(t_0\right)\\ Z_{\mathrm{tl}}^{\′}\left(t_0\right)\end{array}\right]=R_x\left({\mathrm{\φ}}_x\left(t\right)\right)\·R_y\left({\mathrm{\φ}}_y\left(t\right)\right)\·R_z\left({\mathrm{\φ}}_z\left(t\right)\right).\begin{array}{}\left[\begin{array}{c}0\\ 0\\ L\end{array}\right]\end{array}$

Wherein R _x(φ _x(t)) be rotate φ around X-axis _xthe spin matrix of (t), R _y(φ _y(t)) be rotate φ around Y-axis _ythe spin matrix of (t), R _z(φ _z(t)) be rotate around Z axis spin matrix.

The high corner δ of rigid support t at any time _tand tiltangleθ _tdirectly can be obtained by accelerometer, if the azimuth of this moment rigid support is φ _t, the gyro coordinate system according to Fig. 5 and the relation of terrestrial coordinate system, by above-mentioned t ₀time the Coordinate Conversion of rigid support when t in terrestrial coordinate system be,

$\left[\begin{array}{c}{X}_{\mathrm{dm}}\left(t_0\right)\\ Y_{\mathrm{dm}}\left(t_0\right)\\ Z_{\mathrm{dm}}\left(t_0\right)\end{array}\right]=\left[\begin{array}{ccc}\cos \left({\mathrm{\φ}}_t\right)& 0& -\sin \left({\mathrm{\φ}}_t\right)\\ 0& 1& 0\\ \sin \left({\mathrm{\φ}}_t\right)& 0& \cos \left({\mathrm{\φ}}_t\right)\end{array}\right]\·\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \left({-\mathrm{\θ}}_t\right)& \sin (-{\mathrm{\θ}}_t)\\ 0& -\sin \left({-\mathrm{\θ}}_t\right)& \cos (-{\mathrm{\θ}}_t)\end{array}\right]\left[\begin{array}{ccc}\cos (-{\mathrm{\δ}}_t)& \sin \left({-\mathrm{\δ}}_t\right)& 0\\ -\sin \left({-\mathrm{\δ}}_t\right)& \cos (-{\mathrm{\δ}}_1)& 0\\ 0& 0& 1\end{array}\right]\·\left[\begin{array}{c}{X}_{\mathrm{tl}}^{\′}\left(t_0\right)\\ Y_{\mathrm{yl}}^{\′}\left(t_0\right)\\ Z_{\mathrm{tl}}^{\′}\left(t_0\right)\end{array}\right]$

Because δ _t, θ _tand φ _zt () is the known quantity that accelerometer records, φ _x(t) and φ _yt () is that gyrosensor is measured and known quantity by calculating, so above formula can be simplified shown as:

$\left[\begin{array}{c}{X}_{\mathrm{dm}}\left(t_0\right)\\ Y_{\mathrm{dm}}\left(t_0\right)\\ Z_{\mathrm{dm}}\left(t_0\right)\end{array}\right]=\left[\begin{array}{ccc}\cos \left({\mathrm{\φ}}_t\right)& 0& -\sin \left({\mathrm{\φ}}_t\right)\\ 0& 1& 0\\ \sin \left({\mathrm{\φ}}_t\right)& 0& \cos \left({\mathrm{\φ}}_t\right)\end{array}\right]\·\left[\begin{array}{c}{C}_x\·L\\ C_y\·L\\ C_z\·L\end{array}\right]$

C _x, C _yand C _ztherefore the parameter obtained in matrix operation by known quantity respectively is also known quantity,

According to spatial relationship rigid support t ₀time the coordinate be engraved in earth axes be:

It is as follows that more than simultaneous two relational expressions can obtain equation group,

Solving equation obtains,

That is,

This just obtains the azimuth φ of rigid support t at any time _t, in conjunction with the high corner δ that accelerometer records _tand tiltangleθ _t, just to obtain the attitude of rigid support t at any time.

When the following describes rigid support 100t moment in the X-axis and Y direction of gyro coordinate system relative to t ₀the angle φ of time changing _x(t) and φ _ythe computational methods of (t).Angular velocity on two angular velocity sensitive axes directions measured by gyrosensor 200 and the magnitude of angular velocity proportional relation of rigid support 100 in the X-axis and Y direction of gyro coordinate system, if factor of proportionality is respectively k _x, k _y(size of its value is relevant to factors such as gyrosensor characteristic and mechanical erections, is gyrosensor 200 angular velocity calibration factor, obtains by scale).Relation according to angular velocity and angle can obtain,

$\left\{\begin{array}{c}{\mathrm{\φ}}_x\left(t\right)=f_x(k_x,{\mathrm{\ω}}_x\left(t\right),{\mathrm{\φ}}_x\left(t_0\right))={\∫}_{t_0}^t(k_x\·{\mathrm{\ω}}_x\left(\mathrm{\τ}\right))\mathrm{d\τ}+{\mathrm{\φ}}_x\left(t_0\right)\\ {\mathrm{\φ}}_y\left(t\right)=f_y(k_y,{\mathrm{\ω}}_y\left(t\right),{\mathrm{\φ}}_y\left(t_0\right))={\∫}_{t_0}^t(k_y\·{\mathrm{\ω}}_y\left(\mathrm{\τ}\right))\mathrm{d\τ}+{\mathrm{\φ}}_y\left(t_0\right)\end{array}\right.$

In digital display circuit, because what collect is discrete data, angular velocity and angle have following relation,

$\left\{\begin{array}{c}{\mathrm{\φ}}_x\left(t\right)=f_x(k_x,{\mathrm{\ω}}_x\left(t\right),{\mathrm{\φ}}_x\left(t_0\right))=\underset{\underset{\mathrm{nT}=t}{i=0,}}{\overset{n}{\mathrm{\Σ}}}(k_x\·{\mathrm{\ω}}_x\left(\mathrm{iT}\right))+{\mathrm{\φ}}_x\left(t_0\right)\\ {\mathrm{\φ}}_y\left(t\right)=f_y(k_y,{\mathrm{\ω}}_y\left(t\right),{\mathrm{\φ}}_y\left(t_0\right))=\underset{\underset{\mathrm{nT}=t}{i=0}}{\overset{n}{\mathrm{\Σ}}}(k_y\·{\mathrm{\ω}}_y\left(\mathrm{iT}\right))+{\mathrm{\φ}}_y\left(t_0\right)\end{array}\right.$

Wherein, φ _x(t) and φ _y(t) be respectively rigid support 100 when t in the X-axis of gyro coordinate system and Y direction relative to t ₀the angle of time changing; k _xand k _yfor gyrosensor 200 angular velocity calibration factor; ω _x(t) and ω _yt () is the angular velocity on two angular velocity sensitive axes directions measured by gyrosensor 200 respectively, be the function of time t; φ _x(t ₀) and φ _y(t ₀) be that rigid support 100 is at t respectively ₀the angle turned in the X-axis of gyro coordinate system and Y direction during the moment because well logging in by rigid support 100 at t ₀the attitude in moment is as initial attitude, so φ _x(t ₀)=φ _y(t ₀)=0; τ is the amount of being integrated; T is the time interval between continuous two discrete datas.

From expression formula above, because k _xand k _ycan be obtained by the method for scale, so by solving when above formula obtains rigid support 100t moment in the X-axis and Y direction of gyro coordinate system relative to t ₀the angle φ of time changing _x(t) and φ _y(t).

Accordingly, as shown in Figure 7, the invention provides a kind of method that two axis gyroscope continuous measurement is in the attitude of gravitational field rigid support 100, the method is corresponding with the system that above-mentioned two axis gyroscope continuous measurement is in the attitude of gravitational field rigid support 100, does not repeat them here.

In addition, as shown in Figure 8, present invention also offers a kind of system of continuous measurement oil well well track, this system comprises: rigid support 100, and this rigid support 100 moves along oil well well track; Gyrosensor 200, is rigidly connected with described rigid support 100 and makes two of gyrosensor 200 angular velocity sensitive axes and described rigid support 100 orthogonality of center shaft, the angular velocity on two the angular velocity sensitive axes directions measuring gyrosensor 200; Accelerometer 300, is rigidly connected with described rigid support 100, measures and is in the angle of slope of the rigid support 100 of gravitational field and high corner; Depth survey unit 400, for measuring the not present in the same time degree of depth of described rigid support 100; Computing unit 500, for according to the angular velocity of rigid support 100 on the angle of slope of initial time, high corner and azimuth, the high corner of any time and two angular velocity sensitive axes directions in the time period from initial time to any time measured by gyrosensor 200, calculate rigid support 100 azimuth at any time, afterwards in conjunction with the rigid support 100 measured by accelerometer 300 in the angle of slope of this any time and high corner, determine the attitude of rigid support 100 in this any time; Repeat above-mentioned deterministic process, determine the attitude of rigid support 100 in multiple continuous moment, in conjunction with the degree of depth of the rigid support 100 measured by described depth survey unit 400 in described multiple continuous moment, determine well track.

Correspondingly, as shown in Figure 9, the present invention also provides a kind of method of continuous measurement oil well well track, and the method comprises the following steps: step S1: rigid support 100 is transferred to target depth position to be logged well; Step S2: under static state, measures rigid support 100 at initial time t ₀angle of slope, high corner and azimuth; Step S3: rigid support 100 is moved continuously along oil well well track; Step S4: according to the above-mentioned method utilizing two axis gyroscope sensor 200 continuous measurement attitude, determine rigid support 100 attitude at any time; Step S5: measure the degree of depth of rigid support 100 residing for described any time; And step S6: repeat step S3-S5, obtain rigid support 100 in the attitude in multiple continuous moment and the corresponding degree of depth, to determine the well track of oil well.

In the system and method for above-mentioned continuous measurement oil well well track, rigid support 100 at the angle of slope of initial time, high corner and azimuthal calculating, and rigid support 100 is in the determination of the attitude of this any time, the content all with above introduced is identical, is not repeating in this.

The method and system of two axis gyroscope continuous measurement attitude provided by the present invention and application thereof had both overcome gyro point and had surveyed complex operation and drawback consuming time, avoid again three axle gyro continuous measurement external diameters large and the deficiency that hardware cost is high, the continuous measurement of oil well track can be realized in rigid support 100 motion process, shorten log-time, improve logging efficiency, reduce hardware manufacturing cost.

Although the present invention is by disclosed in above-described embodiment, but above-described embodiment is not intended to limit the present invention, any the technical staff in the technical field of the invention, without departing from the spirit and scope of the present invention, should various changes can be made with amendment.Therefore the scope that protection scope of the present invention should define with appended claims is as the criterion.

Claims (4)

1. utilize two axis gyroscope continuous measurement to be in a system for the attitude of gravitational field rigid support (100), this system comprises:

Gyrosensor (200), this gyrosensor (200) and described rigid support (100) are rigidly connected and two angular velocity sensitive axes of gyrosensor (200) and described rigid support (100) orthogonality of center shaft, the angular velocity on two the angular velocity sensitive axes directions measuring gyrosensor (200);

Accelerometer (300), is rigidly connected with described rigid support (100), for measuring the angle of slope of rigid support (100) and high corner;

Computing unit (500), for according to rigid support (100) at the angle of slope of initial time, high corner and azimuth, angular velocity on the high corner of any time and two angular velocity sensitive axes directions in the time period from initial time to any time measured by gyrosensor (200), calculate rigid support (100) azimuth at any time, afterwards in conjunction with the rigid support (100) measured by accelerometer (300) in the angle of slope of this any time and high corner, determine the attitude of rigid support (100) in this any time,

Wherein, describedly to comprise according to angular speed calculation rigid support (100) azimuth at any time of rigid support (100) on the angle of slope of initial time, high corner and azimuth, the high corner of any time and two angular velocity sensitive axes directions in the time period from initial time to any time measured by gyrosensor (200):

When calculating t by following relational expression gyrosensor (200) in the X-axis and Y direction of gyro coordinate system relative to t ₀the angle of time changing,

$\left\{\begin{array}{c}{\mathrm{\φ}}_x\left(t\right)=f_x(k_x,{\mathrm{\ω}}_x\left(t\right),{\mathrm{\φ}}_x\left(t_0\right))\\ {\mathrm{\φ}}_y\left(t\right)=f_y(k_y,{\mathrm{\ω}}_y\left(t\right),{\mathrm{\φ}}_y\left(t_0\right))\end{array}\right.$

Wherein, φ _x(t) and φ _ywhen () is respectively rigid support (100) t t in the X-axis and Y direction of gyro coordinate system relative to t ₀the angle of time changing; k _xand k _yfor gyrosensor (200) angular velocity calibration factor; ω _x(t) and ω _yt () is the angular velocity on two angular velocity sensitive axes directions measured by gyrosensor (200) respectively, be the function of time t; φ _x(t ₀) and φ _y(t ₀) be rigid support (100) t respectively ₀the angle turned in the X-axis of gyro coordinate system and Y direction during the moment; And

According to the high corner of changed angle, any time and rigid support (100) at t ₀the angle of slope in moment, high corner and azimuth, calculate rigid support (100) at the azimuth of t.

2. utilize two axis gyroscope continuous measurement to be in a method for the attitude of gravitational field rigid support (100), the method comprises:

Determine rigid support (100) at the angle of slope of initial time, high corner and azimuth;

Gyrosensor (200) and described rigid support (100) are rigidly connected and two angular velocity sensitive axes of gyrosensor (200) and described rigid support (100) orthogonality of center shaft, measure the angular velocity on two angular velocity sensitive axes directions of gyrosensor (200);

Measure rigid support (100) angle of slope at any time and high corner;

According to the angle of slope of rigid support (100) initial time, high corner and azimuth, the high corner of any time and the angular velocity in the time period from initial time to any time on two angular velocity sensitive axes directions, calculate rigid support (100) azimuth at any time; And

In conjunction with rigid support (100) at the angle of slope of described any time, high corner and azimuth, determine the attitude of rigid support (100) in described any time;

Wherein, the azimuth of the described angle of slope according to rigid support (100) initial time, high corner and azimuth, the high corner of any time and the angular speed calculation rigid support (100) in the time period from initial time to any time on two angular velocity sensitive axes directions attitude at any time comprises:

When calculating rigid support (100) t by following relational expression in the X-axis and Y direction of gyro coordinate system relative to t ₀the angle of time changing,

$\left\{\begin{array}{c}{\mathrm{\φ}}_x\left(t\right)=f_x(k_x,{\mathrm{\ω}}_x\left(t\right),{\mathrm{\φ}}_x\left(t_0\right))\\ {\mathrm{\φ}}_y\left(t\right)=f_y(k_y,{\mathrm{\ω}}_y\left(t\right),{\mathrm{\φ}}_y\left(t_0\right))\end{array}\right.$

Wherein, φ _x(t) and φ _ywhen () is respectively rigid support (100) t t rigid support (100) in the X-axis and Y direction of gyro coordinate system relative to t ₀the angle of time changing; k _xand k _yfor gyrosensor (200) angular velocity calibration factor; ω _x(t) and ω _yt () is the angular velocity on two angular velocity sensitive axes directions measured by gyrosensor (200) respectively, be the function of time t; φ _x(t ₀) and φ _y(t ₀) be rigid support (100) t respectively ₀the angle turned in the X-axis of gyro coordinate system and Y direction during the moment; And

According to the high corner of changed angle, any time and rigid support (100) at t ₀the angle of slope in moment, high corner and azimuth, calculate rigid support (100) at the azimuth of t.

3. a system for continuous measurement oil well well track, this system comprises:

Rigid support (100), this rigid support (100) moves along oil well well track;

Gyrosensor (200), be rigidly connected with described rigid support (100) and two angular velocity sensitive axes of gyrosensor (200) and described rigid support (100) orthogonality of center shaft, the angular velocity on two the angular velocity sensitive axes directions measuring gyrosensor (200);

Accelerometer (300), is rigidly connected with described rigid support (100), measures and is in the angle of slope of the rigid support (100) of gravitational field and high corner;

Depth survey unit (400), for measuring the not present in the same time degree of depth of described rigid support (100); And

Computing unit (500), for according to rigid support (100) at the angle of slope of initial time, high corner and azimuth, angular velocity on the high corner of any time and two angular velocity sensitive axes directions in the time period from initial time to any time measured by gyrosensor (200), calculate rigid support (100) azimuth at any time, afterwards in conjunction with the rigid support (100) measured by accelerometer (300) in the angle of slope of this any time and high corner, determine the attitude of rigid support (100) in this any time, repeat above-mentioned deterministic process, determine the attitude of rigid support (100) in multiple continuous moment, in conjunction with the rigid support (100) measured by described depth survey unit (400) in the degree of depth in described multiple continuous moment, determine well track,

Wherein, describedly to comprise according to angular speed calculation rigid support (100) azimuth at any time of rigid support (100) on the angle of slope of initial time, high corner and azimuth, the high corner of any time and two angular velocity sensitive axes directions in the time period from initial time to any time measured by gyrosensor (200):

When calculating t by following relational expression rigid support (100) in the X-axis and Y direction of gyro coordinate system relative to t ₀the angle of time changing,

$\left\{\begin{array}{c}{\mathrm{\φ}}_x\left(t\right)=f_x(k_x,{\mathrm{\ω}}_x\left(t\right),{\mathrm{\φ}}_x\left(t_0\right))\\ {\mathrm{\φ}}_y\left(t\right)=f_y(k_y,{\mathrm{\ω}}_y\left(t\right),{\mathrm{\φ}}_y\left(t_0\right))\end{array}\right.$

Wherein, φ _x(t) and φ _ywhen () is respectively rigid support (100) t t rigid support (100) in the X-axis and Y direction of gyro coordinate system relative to t ₀the angle of time changing; k _xand k _yfor gyrosensor (200) angular velocity calibration factor; ω _x(t) and ω _yt () is the angular velocity on two angular velocity sensitive axes directions measured by gyrosensor (200) respectively, be the function of time t; φ _x(t ₀) and φ _y(t ₀) be rigid support (100) t respectively ₀the angle turned in the X-axis of gyro coordinate system and Y direction during the moment; And

According to the high corner of changed angle, any time and rigid support (100) at t ₀the angle of slope in moment, high corner and azimuth, calculate rigid support (100) at the azimuth of t.

4. a method for continuous measurement oil well well track, the method comprises the following steps:

Step S1: rigid support (100) is transferred to target depth position to be logged well;

Step S2: under static state, measures rigid support (100) at initial time t ₀angle of slope, high corner and azimuth;

Step S3: rigid support (100) is moved continuously along oil well well track;

Step S4: method according to claim 2, determines rigid support (100) attitude at any time;

Step S5: measure rigid support (100) degree of depth residing for described any time; And

Step S6: repeat step S3-S5, obtains rigid support (100) in the attitude in multiple continuous moment and the corresponding degree of depth, to determine the well track of oil well.