CN103114846A - Post processing system of inclinometry data based on fiber-optic gyroscope inclinometer - Google Patents

Abstract

The invention discloses a post processing system of inclinometry data based on a fiber-optic gyroscope inclinometer. Firstly, according to the system, a difference-resistant estimate rule of a steady method can be used for eliminating gross errors. Then, a prediction filtering principle can be used for eliminating burrs of the inclinometry data. Lastly, a three-time B spline data fitting method can be used for processing smoothly the inclinometry data. The system can overcome the current situation that inclinometry data of the fiber-optic gyroscope inclinometer are not matched with the inclinometry data of relevant oil standards in a well track reduction process so as to provide a reliable post processing of the inclinometry data for reduction data of an eventual well track.

Description

A kind for the treatment of system afterwards of the deviational survey data based on optic fiber gyroscope inclinometer

Technical field

The present invention relates to the method for a kind of oil well well track reduction, more particularly, refer to the treatment system afterwards that a kind of deviational survey data that measure of utilizing optic fiber gyroscope inclinometer are carried out the well track reduction.

Background technology

" People's Republic of China's oil and gas industry standard ", SY/T5435-2000, " directional well Track desigh and track are drawn ".Stipulated in industry standard that the well track reduction gathers a deviational survey data point (referred to as measuring point) as the unit length that restores well track with every 25 meters～30 meters.But the deviational survey Data Update time that optic fiber gyroscope inclinometer measures in real time shorter (every 100 milliseconds of renewals once), instrument down-hole movement velocity is 1～2 meter per second, so every 30 meters have 300～600 measuring points.

The parameter that optic fiber gyroscope inclinometer can be measured includes:

(unit: degree), on borehole axis, certain point is made the tangent line of borehole axis to hole angle, and the part that this tangent line extends to the well direction of advance is called well direction line, and the angle between well direction line and gravity vertical is exactly hole angle.Hole angle is a very important parameter during well-drilling borehole track design and actual well track calculate.

Azimuth (unit: degree), the well direction line projection at certain measuring point place is called the Borehole Azimuth line to horizontal plane, or the direction of deflection line.Take the direct north line as initial line, it is the azimuth that dextrorotation goes to the angle that the direction of deflection line turns over.

Depth measurement (unit: rice), be exactly well depth, refer to the length of down-hole equipment.

Vertical depth (unit: rice), be exactly the vertical depth of measuring point.The vertical line of doing the well head plane from measuring point is exactly vertical depth.

(unit: rice), be exactly the northeast skew, refer to that take well head as initial point, well track is the projection on plane northeastward, usually set north is forward to horizontal projection length, is first quartile between the east northeast axle, is the second quadrant between the southeast, and three four-quadrants by that analogy.

Hole curvature (unit: spend/30 meters) also is dog-leg degree and rate of over-all angle change.In SY/T5313-93 " drilling engineering term " standard 10.43 clauses, rate of over-all angle change is defined as " unit well segment length borehole axis changes in three-dimensional angle ", and unit well segment length depends on deviational survey needs in production reality.It has not only comprised the variation of hole angle but also comprising azimuthal variation.The rate of over-all angle change of well is crossed the difficulty that conference increases drilling well and oil producing operation, easily causes down-hole accident.The pipe rod bending that the well rate of over-all angle change causes has reduced the degree of freedom of managing bar, with the concentrated release of stress occurs, makes standing valve that opening process be arranged in down stroke, causes leakage, has reduced pump efficiency.

In the well track reduction process, because industry standard is take length as measurement unit, and optic fiber gyroscope inclinometer is take the time as unit, and this will cause actual measurement deviational survey data to there are differences with the hole trajectory data that needs reduction.Complete the well track reduction if extract the actual measurement deviational survey data of part, will cause that there is very large deviation in the well track of reduction, follow-up geologic information is explained brought misleading.

Summary of the invention

Measurement unit difference for the actual measurement deviational survey data that solve optic fiber gyroscope inclinometer and the hole trajectory data existence that needs reduction, the present invention proposes a kind for the treatment of system afterwards of the deviational survey data based on optic fiber gyroscope inclinometer, at first this system uses the anti-poor estimation criterion of robust method with the elimination of rough difference in the deviational survey data, then adopt the predictive filtering principle that the burr in the deviational survey data is removed, with the cubic B-spline data fitting method, the deviational survey data are carried out smoothing processing at last.The present invention adopts 300～600 measuring points corresponding to a well track restoration point (referred to as restoration point), effectively anti-rough error, filtering and level and smooth measuring point.Treatment system takes full advantage of a large amount of real-time deviational survey data afterwards, has not only improved Instrument measuring precision, makes simultaneously the data source of reduction well track more scientific, closes the symbol geologic information.

The treatment system afterwards of a kind of deviational survey data based on optic fiber gyroscope inclinometer of the present invention, this system is the measurement unit difference that exists for the actual measurement deviational survey data that solve optic fiber gyroscope inclinometer and the hole trajectory data that needs reduction, this difference will cause the well track of reduction to have very large deviation, follow-up geologic information be explained be brought misleading; It is characterized in that: this system includes IGG iteration module (10), the filtering burr of sane estimation and removes module (20) and smoothed cubic spline module (30);

Include following treatment step in the sane IGG iteration module (10) of estimating:

Step 101: the sane IGG iteration module of estimating 10 receives optic fiber gyroscope inclinometer and measures in real time the complete deviational survey data DD of output;

Step 102: the method for estimation that described complete deviational survey data DD adopts M to estimate is processed, obtained estimated value DDA;

Step 103: adopt the IGG method in iteration method with variable weights to press weight function to estimated value DDA $\mathrm{\&omega;}\left(u\right)=\left\{\begin{array}{cc}1& \left|u\right|\&le;k_0\\ {\mathrm{<figure-callout\; id="0"\; label="k"\; filenames="HDA00002780177800042.png,HDA00002780177800052.png"\; state="\{\{state\}\}">k</figure-callout>}}_0/\left|u\right|& {\mathrm{<figure-callout\; id="0"\; label="k"\; filenames="HDA00002780177800042.png,HDA00002780177800052.png"\; state="\{\{state\}\}">k</figure-callout>}}_0\&le;\left|u\right|<k_1\\ 0& k_1\&le;\left|u\right|\end{array}\right.$ Carry out iteration, obtain anti-poor deviational survey data DDB;

ω represents weight, and u represents the poor of complete deviational survey data and weighted average, k ₀Point, k are eliminated in expression first ₁Point is eliminated in expression second;

Step 104: add up anti-poor deviational survey data DDB and be weighted processing, obtaining weighting deviational survey data DDC; Ask the current weighted average A of weighting deviational survey data DDC _nCurrent weighted average A _nIn n represent iterations;

Step 105: ask current weighted average A _nWith a front weighted average A _n-1Difference be designated as Δ A _n, Δ A _n=A _n-A _n-1

Step 106: judgement Δ A _n＜10 ^-4, namely when the difference of the weighted average of twice iteration in front and back whether less than 10 ^-4, less than stopping iteration, output M value data estimator DM;

If Δ A _n〉=10 ^-4, repeating step 101 to step 105 is carried out anti-poor processing of repetition, until the difference of the weighted average of twice iteration in satisfied front and back is less than 10 ^-4

The filtering burr remove module (20) to receive M value data estimator DM carry out the disposal of gentle filter, obtain the deviational survey audio data AD M after deburring;

In smoothed cubic spline module (30), the deviational survey data after deburring are had with the step that cubic B-spline carries out smoothing processing:

Step 301: deviational survey audio data AD M after the described deburring that receives is carried out the filtering window width and upgrades the step-length setting, obtain input sample of data;

Described filtering window width is set to 25, upgrades step-length and is set to 10.

Step 302: input sample of data is carried out B-spline curve, output match deviational survey data SDM;

Step 303: extract front 10 numbers in the match deviational survey data SDM deviational survey data estimation parameter after level and smooth as batten;

Rear 15 numbers that extract in match deviational survey data SDM are upgraded input sample of data;

Step 304: judge that deviational survey data length DDL whether to finishing, if arrive the afterbody of deviational survey data length, finishes the smoothed cubic spline of deviational survey data after deburring is processed, output match deviational survey data SDM; If do not arrive the afterbody of deviational survey data length, repeating step 302 and step 303 are until arrive the afterbody of deviational survey data length.

Description of drawings

Fig. 1 is the structure chart of optic fiber gyroscope inclinometer.

Fig. 2 is the survey data structure chart of optic fiber gyroscope inclinometer.

Fig. 3 A is the deviational survey data of the present invention structured flowcharts for the treatment of system afterwards.

Fig. 3 B is the deviational survey data of the present invention flow charts for the treatment of system afterwards.

Fig. 3 C is the track reproduction schematic diagram of using after system of the present invention.

Fig. 4 A is the hole deviation data waveform figure that adds seven place's rough errors that certain model optic fiber gyroscope inclinometer records.

Fig. 4 B is the deviational survey data waveform figure after the IGG iteration module that Fig. 4 A has carried out sane estimation is processed.

Fig. 4 C is the deviational survey data waveform figure that Fig. 4 B is partly amplified.

Fig. 5 A is filtering two groups of Data Comparison figure afterwards.

Fig. 5 B is Detail contrast figure.

Fig. 5 C is the hole deviation datagram after the disposal of gentle filter.

Fig. 6 is the hole deviation datagram after level and smooth through batten.

The specific embodiment

The present invention is described in further detail below in conjunction with accompanying drawing.

shown in Figure 1, optic fiber gyroscope inclinometer includes center processor 1, signal processor 2, counter 3, optical cable capstan winch 4, tension pick-up 5, derrick 6, optical cable 8 and down-well pipe finder 10 form, center processor 1 is connected by the RS232 interface with signal processor 2, optical cable capstan winch 4 is connected by cable 11 with signal processor 2, counter 3 is arranged on optical cable capstan winch 4, be wound with optical cable 8 on optical cable capstan winch 4, derrick 6 is placed on tested well head 7 tops, tension pick-up 5 is installed on derrick 6, optical cable 8 one ends are connected with down-well pipe finder 10 1 ends by tension pick-up 5.

The control flow of center processor 1 is: after system powers on, at first carry out self check, obtain to carry out the measurement parameter setting after correct running state information; After measurement parameter arranges and finishes, inclinometer enters the initial alignment state, obtains down-well pipe finder 10 body axis systems 12 with respect to the transition matrix of local geographic coordinate system 13 Carry out the measuring state of going into the well after the bookbinding of inclinometer original state, the local longitude and latitude of input after aim at finishing; Down-well pipe finder 10 arrive stop after designated depth descending, the line speed of going forward side by side error deal with return to zero, down-well pipe finder 10 enters the out-hole run state; Down-well pipe finder 10 carries out well head secondary registration process after arriving tested well heads 7, realizes that well track is closed to measure, and to the survey data processing of storing, analyze, draw, and result is exported.

Center processor 1 is by a known computer 101 and the strapdown inertial combine measurement unit that is applicable to optic fiber gyroscope inclinometer that is arranged in described computer, and the initial alignment unit that is applicable to down-well pipe finder 10 set positions, and the treatment system afterwards of deviational survey data.

Described strapdown inertial combine measurement unit refer to quick-connecting inertia measurement output attitude information, velocity information respectively with the velocity information of the magnetic attitude information of magnetic measurement output, the motion of optical cable capstan winch and down-well pipe finder the zero-speed information when static carry out information relatively after, and after the difference that described information is relatively exported is carried out the Kalman filtering processing, be used for estimating the correlated error of strap down inertial navigation combination and revising and compensate.Quick-connecting inertia measurement after described correction and compensation carries out the attitude information of output accurate well track drawing and shows to computer.

Shown in Figure 2, described strapdown inertial combine measurement unit comprises quick-connecting inertia measurement 102, fluxgate measurement 103, optical cable speed of service measurement 104,105, three information comparison modules of Kalman filtering processing (information compares A106, information compares B107 and information compares C108) and zero-speed correcting module (information when down-well pipe finder 10 is static), and the below will describe from the function that each several part can be realized.

One, quick-connecting inertia measurement 102

Inertia measurement is divided into platform-type inertia measurement and Strapdown Inertial Units to be measured, and the Strapdown Inertial Units measurement is that gyro and accelerometer directly are connected in a kind of inertia measurement mode on body.The Strapdown Inertial Units measurement is a kind of measurement pattern of carrying out with the physical platform in the platform-type inertia measurement of mathematical platform replacement.This Strapdown Inertial Units measurement has that frame for movement is simple, size is little, relative cost is lower, but because gyro and accelerometer directly are connected on body, cause the input dynamic range of gyro and accelerometer larger, to using suitable gyro and accelerometer to have higher requirement, select in addition mathematical platform to replace physical platform that the computer of data processing use is had relatively high expectations.

In the present invention, at first quick-connecting inertia measurement 102 receives A) the down-well pipe finder body axis system O of optical fibre gyro output _bX _bY _bZ _bUnder angular velocity information; And B) the down-well pipe finder body axis system O of accelerometer output _bX _bY _bZ _bUnder the ratio force information; Then to described angular velocity information and described adopt reckoning to process than force information after, output C) the velocity information V of down-well pipe finder _x, V _y, V _zAnd D) the azimuth ψ of down-well pipe finder attitude information, roll angle φ, tiltangleθ; At last, with E) described velocity information V _x, V _y, V _zThe information of exporting to compares the B unit and information compares the C unit; With F) described attitude information exports to information relatively A unit.

The described state variable X of Kalman filter 105 outputs is used for the error of the described quick-connecting inertia measurement 102 of online compensation, and the expression down-well pipe finder attitude information after its compensation is output as azimuth ψ ₀, roll angle φ ₀, tiltangleθ ₀And these attitude informations are exported to draw on the Computer display interface show (well track drafting), with handled easily person Real-Time Monitoring.

Vertical well depth computing unit is used for calculating the vertical well depth of well, and the well depth parameter is exported to the Computer display interface display, with handled easily person Real-Time Monitoring.The well depth calculating of vertical well depth computing unit is cable long message and down-well pipe finder 10 tiltangleθs by receiving ₀Cosine multiply each other and obtain the vertical well depth of measured point.

Two, fluxgate measures 103

Flux-gate phenomenon is a kind of ubiquitous electromagnetic induction phenomenon, it be utilize high permeability material in the cell winding system magnetic saturation characteristic and measure the instrument in magnetic field, be one of most widely used weak magnetic survey instrument, its measurement category is 10 ^-12～10 ^-3T, this apparatus structure is simple, volume is little, lightweight, low in energy consumption, shock resistance is good, measurement category is wide, highly sensitive, resolution ratio is high, good stability, be suitable for measuring stationary magnetic field or slow changing magnetic field.

In the present invention, the fluxgate assembly comprises the fluxgate that three quadratures are settled, i.e. X-axis fluxgate, Y-axis fluxgate and Z axis fluxgate.

In the present invention, fluxgate is measured 103 and is at first received A) the down-well pipe finder body axis system O of fluxgate assembly output _bX _bY _bZ _bUnder the earth magnetism component information; And B) the down-well pipe finder body axis system O of accelerometer output _bX _bY _bZ _bUnder the ratio force information; Then to described earth magnetism component information with describedly adopt magnetic measurement to calculate than force information, and the azimuth with respect to magnetic north that will calculate is converted to the azimuth ψ with respect to the geographical north _cAfter, the azimuth ψ of output down-well pipe finder attitude information _c, roll angle φ _c, tiltangleθ _cAt last with C) described attitude information exports to information relatively A unit.

Three, the optical cable speed of service 104

One end of optical cable 8 is connected on optical cable capstan winch 4, and the other end is fixed on down-well pipe finder 10.In the present invention, the speed of down-well pipe finder 10 being moved in well can obtain by cable length cable length increment within the unit interval that counter 3 measures down-well pipe finder when operation at its body axis system O _bX _bY _bZ _bUnder velocity information.

Full optical fiber digital inclinometer relates to two coordinate systems in measuring process, one is local geographic coordinate system O _tX _tY _tZ _t13, one is down-well pipe finder body axis system O _bX _bY _bZ _b12.The coordinate transformation relation that these two coordinate systems exist is $\left[\begin{array}{c}{x}_b\\ y_b\\ z_b\end{array}\right]=C_t^b\left[\begin{array}{c}{x}_t\\ y_t\\ z_t\end{array}\right],$ The denotation coordination transition matrix.By this coordinate conversion matrix

Can be with down-well pipe finder body axis system O _bX _bY _bZ _bUnder optical cable speed of service information be converted to local geographic coordinate system O _tX _tY _tZ _tUnder velocity information V _xc, V _yc, V _zc, described velocity information V _xc, V _yc, V _zcExport to information comparison B unit and carry out the speed difference relatively.

Down-well pipe finder body axis system O _bX _bY _bZ _bWith local geographic coordinate system O _tX _tY _tZ _tBetween transition matrix be $C_t^b=\left[\begin{array}{ccc}\cos \mathrm{\&psi;}\cos \mathrm{\&phi;}+\sin \mathrm{\&psi;}\sin \mathrm{\&theta;}\sin \mathrm{\&phi;}& -\sin \mathrm{\&psi;}\cos \mathrm{\&phi;}+\cos \mathrm{\&psi;}\sin \mathrm{\&theta;}\sin \mathrm{\&phi;}& -\cos \mathrm{\&theta;}\sin \mathrm{\&theta;}\\ \sin \mathrm{\&psi;}\cos \mathrm{\&theta;}& \cos \mathrm{\&psi;}\cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}\\ \cos \mathrm{\&psi;}\sin \mathrm{\&theta;}-\sin \mathrm{\&psi;}\sin \mathrm{\&theta;}\cos \mathrm{\&phi;}& -\sin \mathrm{\&psi;}\sin \mathrm{\&phi;}-\cos \mathrm{\&psi;}\sin \mathrm{\&theta;}\cos \mathrm{\&phi;}& \cos \mathrm{\&theta;}\cos \mathrm{\&phi;}\end{array}\right],$ Angle in this matrix has respectively azimuth ψ, roll angle φ, the tiltangleθ of down-well pipe finder attitude information.

Four, Kalman filter 105

Kalman filter 105 receives

A) information compares the pose difference of A unit output $Z_{\mathrm{KA}}=\left[\begin{array}{c}\mathrm{\&psi;}-{\mathrm{\&psi;}}_c\\ \mathrm{\&theta;}-{\mathrm{\&theta;}}_c\\ \mathrm{\&phi;}-{\mathrm{\&phi;}}_c\end{array}\right],$ With

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

C) information compares the speed difference of C unit output $Z_{\mathrm{KC}}=\left[\begin{array}{c}{V}_x-0\\ V_y-0\\ V_z-0\end{array}\right],$ Utilize the docking of discrete type Kalman filter to collect mail and cease and carry out the data fusion realization to state variable X=[δ r _x, δ r _y, δ r _z, δ v _x, δ v _y, δ v _z, η _x, η _y, η _z, δ f _x, δ f _y, δ f _z, δ ω _x, δ ω _y, δ ω _z] carry out optimal estimation, according to the state variable of estimating, described quick-connecting inertia measurement is carried out online error compensation, the down-well pipe finder attitude information after the output compensation $\left[\begin{array}{c}{\mathrm{\&psi;}}_0\\ {\mathrm{\&theta;}}_0\\ {\mathrm{\&phi;}}_0\end{array}\right]=\left[\begin{array}{c}\mathrm{\&psi;}-{\mathrm{\&eta;}}_x\\ \mathrm{\&theta;}-{\mathrm{\&eta;}}_y\\ \mathrm{\&phi;}-{\mathrm{\&eta;}}_z\end{array}\right]$ Give described Computer display interface 101.

In formula, δ r _xRepresent local geographic coordinate system O _tX _tY _tZ _tUnder site error X-axis component, δ r _yRepresent local geographic coordinate system O _tX _tY _tZ _tUnder site error Y-axis component, δ r _zRepresent local geographic coordinate system O _tX _tY _tZ _tUnder site error Z axis component, δ v _xRepresent local geographic coordinate system O _tX _tY _tZ _tUnder velocity error X-axis component, δ v _yRepresent local geographic coordinate system O _tX _tY _tZ _tUnder velocity error Y-axis component, δ v _zRepresent local geographic coordinate system O _tX _tY _tZ _tUnder velocity error Z axis component, η _xExpression azimuth ψ error, η _yExpression tiltangleθ error, η _zExpression roll angle φ error, δ f _xExpression X-axis accelerometer error, δ f _yExpression Y-axis accelerometer error, δ f _zExpression Z axis accelerometer error, δ ω _xExpression X-axis optical fibre gyro error, δ ω _yExpression Y-axis optical fibre gyro error, δ ω _zExpression Z axis optical fibre gyro error.

The filtering of described Kalman filter 105 is processed and is adopted discrete type Kalman filtering fundamental equation, and its each state variable initial value all is made as zero.

Five, information relatively

In the present invention, the information comparison is comprised of information comparison A unit 106, information comparison B unit 107 and information comparison C unit 108, wherein,

Information is A unit 106 relatively, is used for completing the azimuth ψ of the down-well pipe finder attitude information of azimuth ψ, roll angle φ, tiltangleθ and 103 outputs of described magnetic measurement to the down-well pipe finder attitude information of described quick-connecting inertia measurement 102 outputs _c, roll angle φ _c, tiltangleθ _cSubtract each other the output pose difference $Z_{\mathrm{KA}}=\left[\begin{array}{c}\mathrm{\&psi;}-{\mathrm{\&psi;}}_c\\ \mathrm{\&theta;}-{\mathrm{\&theta;}}_c\\ \mathrm{\&phi;}-{\mathrm{\&phi;}}_c\end{array}\right]$ Give Kalman filter 105;

Information is B unit 107 relatively, is used for completing the velocity information V to the down-well pipe finder of described quick-connecting inertia measurement 102 outputs _x, V _y, V _zMeasure the velocity information V of 104 outputs with described optical cable movement velocity _xc, V _yc, V _zcSubtract each other the output speed difference $Z_{\mathrm{KB}}=\left[\begin{array}{c}{V}_x-V_{\mathrm{xc}}\\ V_y-V_{\mathrm{yc}}\\ V_z-V_{\mathrm{zc}}\end{array}\right]$ Give Kalman filter 105;

Information is C unit 108 relatively, is used for completing the velocity information V to the down-well pipe finder of described quick-connecting inertia measurement 102 outputs _x, V _y, V _zSubtract each other the output speed difference with the zero velocity information of the static amount output of described down-well pipe finder 10 $Z_{\mathrm{KC}}=\left[\begin{array}{c}{V}_x-0\\ V_y-0\\ V_z-0\end{array}\right]$ Give Kalman filter 105.

Six, zero-speed correction

When the zero-speed correction referred to that in full optical fiber digital inclinometer, down-well pipe finder is in resting position, its speed was the velocity error that zero phenomenon is revised quick-connecting inertia measurement output.Should " zero-speed correction " realize by a button that arranges, shown in Fig. 2 A.When adopting described zero-speed modification model, the speed of service of down-well pipe finder reality is that the relatively comparison information of C unit of information is exported in zero conduct.

Strapdown inertial combine measurement of the present invention unit can provide four kinds of measurement in a closed series mode of operations, and each pattern realizes by press corresponding key in the interface.Wherein,

Pattern one: quick-connecting inertia measurement+cable long (in measurement pattern, 1. button is set as)

This measurement in a closed series pattern is used for the quick continuous measurement of conventional wired well logging, is particularly useful for cased well or the well track measurement of the material interference that is magnetic.

The required information flow of measurement in a closed series is: at first first via information, quick-connecting inertia measurement receive A) the down-well pipe finder body axis system O of optical fibre gyro output _bX _bY _bZ _bUnder angular velocity information; And B) the down-well pipe finder body axis system O of accelerometer output _bX _bY _bZ _bUnder the ratio force information; Then to described angular velocity information and described adopt reckoning to process than force information after, output C) the velocity information V of down-well pipe finder _x, V _y, V _zAt last with described velocity information V _x, V _y, V _zThe information of exporting to compares the B unit.The the second tunnel information, by the counter record long to the optical cable cable, then the speed of service information V of the expression underground probe that obtains through Coordinate Conversion _xc, V _yc, V _zcThe information of exporting to compares the B unit.Exporting to Kalman filter after first via information and the second tunnel information are carried out the speed difference in information comparison B unit processes.Third Road information is used for the error of the described quick-connecting inertia measurement of online compensation through the described state variable X of Kalman filtering output, after its compensation, expression down-well pipe finder attitude information is output as azimuth ψ ₀, roll angle φ ₀, tiltangleθ ₀Described attitude information is exported to Computer display interface drawing and is shown, with handled easily person Real-Time Monitoring.The four tunnel information, described attitude information are exported to vertical well depth computing unit and are carried out vertical well depth calculating, and output well depth parameter is to the Computer display interface display, with handled easily person Real-Time Monitoring.

Pattern two: quick-connecting inertia measurement+zero-speed correction (in measurement pattern, 2. button is set as)

This measurement in a closed series pattern is used for not requiring the during well logging of continuous measurement, can be used in well logging during (MWD) process the drilling direction of Real-Time Monitoring drill bit.

The required information flow of measurement in a closed series is: at first first via information, quick-connecting inertia measurement receive A) the down-well pipe finder body axis system O of optical fibre gyro output _bX _bY _bZ _bUnder angular velocity information; And B) the down-well pipe finder body axis system O of accelerometer output _bX _bY _bZ _bUnder the ratio force information; Then to described angular velocity information and described adopt reckoning to process than force information after, output C) the velocity information V of down-well pipe finder _x, V _y, V _zAt last with described velocity information V _x, V _y, V _zThe information of exporting to compares the C unit.The the second tunnel information, the speed of service of down-well pipe finder reality are that the relatively comparison information of C unit of information is exported in zero conduct.Exporting to Kalman filter after first via information and the second tunnel information are carried out the speed difference in information comparison C unit processes.Third Road information is used for the error of the described quick-connecting inertia measurement of online compensation through the described state variable X of Kalman filtering output, after its compensation, expression down-well pipe finder attitude information is output as azimuth ψ ₀, roll angle φ ₀, tiltangleθ ₀Described attitude information is exported to Computer display interface drawing and is shown, with handled easily person Real-Time Monitoring.The four tunnel information, described attitude information are exported to vertical well depth computing unit and are carried out vertical well depth calculating, and output well depth parameter is to the Computer display interface display, with handled easily person Real-Time Monitoring.

Pattern three: quick-connecting inertia measurement+magnetic measurement (in measurement pattern, 3. button is set as)

This measurement in a closed series pattern is used for the logging operation that non-magnetic environment disturbs, and realizes the high accuracy continuous measurement.

The required information flow of measurement in a closed series is: at first first via information, quick-connecting inertia measurement receive A) the down-well pipe finder body axis system O of optical fibre gyro output _bX _bY _bZ _bUnder angular velocity information; And B) the down-well pipe finder body axis system O of accelerometer output _bX _bY _bZ _bUnder the ratio force information; Then to described angular velocity information and described adopt reckoning to process than force information after, output C) azimuth ψ, roll angle φ, the tiltangleθ of expression down-well pipe finder attitude information; The information of at last described attitude information being exported to compares the A unit.The the second tunnel information, fluxgate are measured and at first to be received A) the down-well pipe finder body axis system O of fluxgate assembly output _bX _bY _bZ _bUnder the earth magnetism component information; And B) the down-well pipe finder body axis system O of accelerometer output _bX _bY _bZ _bUnder the ratio force information; Then to described earth magnetism component information with describedly adopt magnetic measurement to calculate than force information, and the azimuth with respect to magnetic north that will calculate is converted to the azimuth ψ with respect to the geographical north _cAfter, the azimuth ψ of output expression down-well pipe finder attitude information _c, roll angle φ _c, tiltangleθ _cThe information of at last described attitude information being exported to compares the A unit.Exporting to Kalman filter after first via information and the second tunnel information are carried out pose difference in information comparison A unit processes.Third Road information is used for the error of the described quick-connecting inertia measurement of online compensation through the described state variable X of Kalman filtering output, after its compensation, expression down-well pipe finder attitude information is output as azimuth ψ ₀, roll angle φ ₀, tiltangleθ ₀Described attitude information is exported to Computer display interface drawing and is shown, with handled easily person Real-Time Monitoring.The four tunnel information, described attitude information are exported to vertical well depth computing unit and are carried out vertical well depth calculating, and output well depth parameter is to the Computer display interface display, with handled easily person Real-Time Monitoring.

Pattern four: quick-connecting inertia measurement+cable length+zero-speed correction+magnetic measurement (in measurement pattern, 4. button is set as)

This measurement in a closed series pattern is used for having cable long auxiliary and without all kinds of logging environments of continuous measurement requirement, by the application of several data integration technology, can provide the error of accurate estimation and compensation strap down inertial navigation, and high-precision measurement result can be provided.

In the present invention, described Kalman filter is carried out the real-time online estimation to state variable.The described state variable X of four kinds of different measurement of correlation patterns outputs in Kalman filtering is processed is identical, but the observed quantity of using is different.

Be elected to the delivery formula for the moment, its corresponding battle array that measures $H_1=\left[\begin{array}{ccccccccccccccc}0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0\end{array}\right],$ After the compensation, expression down-well pipe finder attitude information is output as $\left[\begin{array}{c}{\mathrm{\&psi;}}_0\\ {\mathrm{\&theta;}}_0\\ {\mathrm{\&phi;}}_0\end{array}\right]=\left[\begin{array}{c}\mathrm{\&psi;}-{\mathrm{\&eta;}}_x\\ \mathrm{\&theta;}-{\mathrm{\&eta;}}_y\\ \mathrm{\&phi;}-{\mathrm{\&eta;}}_z\end{array}\right].$

During elected delivery formula two, its corresponding battle array that measures $H_{\mathrm{2,3}}=\left[\begin{array}{ccccccccccccccc}0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0\end{array}\right],$ After the compensation, expression down-well pipe finder attitude information is output as $\left[\begin{array}{c}{\mathrm{\&psi;}}_0\\ {\mathrm{\&theta;}}_0\\ {\mathrm{\&phi;}}_0\end{array}\right]=\left[\begin{array}{c}\mathrm{\&psi;}-{\mathrm{\&eta;}}_x\\ \mathrm{\&theta;}-{\mathrm{\&eta;}}_y\\ \mathrm{\&phi;}-{\mathrm{\&eta;}}_z\end{array}\right].$ In the present invention, pattern three is identical with the measurement battle array of pattern two, and output is also identical, and namely pattern three is all as observed quantity with the speed difference with pattern two.

During elected delivery formula four, its corresponding battle array that measures ${\mathrm{<figure-callout\; id="4"\; label="H"\; filenames="HDA00002780177800011.png"\; state="\{\{state\}\}">H</figure-callout>}}_4=\left[\begin{array}{cccccccccccccccc}0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0\end{array}\right],$ After the compensation, expression down-well pipe finder attitude information is output as $\left[\begin{array}{c}{\mathrm{\&psi;}}_0\\ {\mathrm{\&theta;}}_0\\ {\mathrm{\&phi;}}_0\end{array}\right]=\left[\begin{array}{c}\mathrm{\&psi;}-{\mathrm{\&eta;}}_x\\ \mathrm{\&theta;}-{\mathrm{\&eta;}}_y\\ \mathrm{\&phi;}-{\mathrm{\&eta;}}_z\end{array}\right].$

In the present invention, signal processor 2 is for the decoding of the reception that realizes downhole data and coding and the transmission of aboveground lower transmission control instruction processed and optical cable cable long data.Signal processor 2 is comprised of fpga logic processor, power amplification circuit and photoelectric switching circuit, when the long L(cable of the optical cable cable length that the reception of fpga logic processor is exported by center processor 1 refers to from tested well head 7 to down-well pipe finder 10 current location of living in, optical cable is by the length of optical cable capstan winch 4, its length is read by counter 3, and export to signal processor 2) and down-well pipe finder 10 running status instructions, and described information is encoded according to the Manchester's code form export to power amplification circuit after processing; Power amplification circuit to described coded message amplify, filtering processes and to export to photoelectric switching circuit, in photoelectric switching circuit, the signal of telecommunication is converted to light intensity signal, described light intensity signal is coupled into optical cable 8(seven core armored optical cables by the optical cable coupler) pass to down-well pipe finder 10.

Shown in Fig. 3 A, Fig. 3 B, the measurement unit difference that the present invention exists for the actual measurement deviational survey data that solve optic fiber gyroscope inclinometer and the hole trajectory data that needs reduction, this difference will cause the well track of reduction to have very large deviation, follow-up geologic information be explained brought misleading, therefore.Propose a kind ofly to be embedded in center processor 1(or to claim host computer) in the treatment system afterwards (adopting computer programming language to realize) of deviational survey data.The treatment system afterwards of described deviational survey data includes IGG iteration module 10, the filtering burr of sane estimation and removes module 20 and smoothed cubic spline module 30.

Optic fiber gyroscope inclinometer is used for the parameter (comprising at least hole angle, azimuth, tool face azimuth etc.) of measurement ﹠ characterization well track, the complete deviational survey data that the such well track parameter of many groups forms well track are designated as DD, and several numbers of the group of well track parameter are called the deviational survey data length and are designated as DDL.

At first this deviational survey data handling system receives A) output of continuous fiber gyrolevel for oil well original deviational survey data DD namely, represent the set that all original deviational survey data form, 7 kinds of data: L have been comprised tiltedly dark, θ hole angle, ψ azimuth, γ is the tool face azimuth, the H vertical depth, V speed, the skew of Nl north orientation, the skew of S1 east orientation, the ρ build angle rate;

The iteration method with variable weights that is weight function through the M method of estimation IGG in sane estimation thought with original deviational survey data DD carries out exporting B after anti-poor the processing) D _MData for after anti-poor the processing are about to the elimination of rough difference in data.Rough error is exactly in the deviational survey process, and the impact due to uncertain factors such as accidentally beating of the interference of subsurface environment and sensor irrational hop may occur in measured data.Also have a lot of stray data through the data after anti-poor the processing on detailed drawing, input to predictive filtering system, output C) D _FBe the data after predictive filtering.

Described stray data is exactly burr, is defined as any little saltus step that departs from normal data when sampling.

Then above-mentioned data are exported D through B-spline curve) D _SFor using the cubic B-spline data fitting method with the data after pretreatment, at this moment, treated deviational survey data remain the curve that changes in time and change.

The relation of above-mentioned data based inclinometer speed and displacement is carried out deviational survey data sampling output E) AL is the sampled data based on the degree of depth.

The relation of described inclinometer speed and displacement is S=V * Δ T.Remain the function of time through anti-difference and the deviational survey data after level and smooth, in order to gather a data reproduction well track with national standard coupling 25～30m, S=25～30m so, the speed V of inclinometer can measure, thereby calculates image data time interval △ T.If inclinometer is with the tachometric survey data of 1m/s, the time interval of our sampling is 25～30s so.The sample depth that collects is spaced apart 25～30m.

Native system can overcome data that existing instrument is surveyed and relevant oil standard unmatched situation of data in the well track reduction process, for the reduction of final well track provides reliable data source.

Can find out from Fig. 3 C: original deviational survey data through after anti-poor processing, predictive filtering, B-spline curve, are obtained the geometric locus similar to true well track.Can sample according to distance on this curve; every 25～30m gathers data; the corresponding time is about 25～30s, thereby obtains meeting " the directional well Track desigh and track drawing " of People's Republic of China's oil and gas industry standard of SY/T5435-2000.In engineering is used, when Real-time Collection arrives the deviational survey data, by the relation in disclosed table in standard, image data to be inserted, desired data can access by lookup table mode.

(1) the sane IGG iteration module 10 of estimating

Step 101: the sane IGG iteration module of estimating 10 receives optic fiber gyroscope inclinometer and measures in real time the complete deviational survey data DD of output;

Step 102: the method for estimation that described complete deviational survey data DD adopts M to estimate is processed, obtained estimated value DDA;

In the present invention, the method for estimation that described M estimates is with reference to " Measurement and Data Processing theory and method ", and the people such as Qiu Weining write, publishing house of Wuhan University, in June, 2008.

In the present invention, the method for estimation of described M estimation can be also with n observation sample L ₁, L ₂..., L _i..., L _n, X is solve for parameter.Any one observation sample L _iDistribution density be designated as

The sample value that expression collects is by the maximum likelihood estimation criterion $\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}\ln f(L_i,\hat{X})=\max ,$ Differentiate obtains

Wherein, ρ (x)=-lnf (x).Ought select the function ρ that can satisfy saneization requirement here, utilize

The estimation parameter X.

Step 103: adopt the IGG method in iteration method with variable weights to press weight function to estimated value DDA $\mathrm{\&omega;}\left(u\right)=\left\{\begin{array}{cc}1& \left|u\right|\&le;k_0\\ {\mathrm{<figure-callout\; id="0"\; label="k"\; filenames="HDA00002780177800042.png,HDA00002780177800052.png"\; state="\{\{state\}\}">k</figure-callout>}}_0/\left|u\right|& {\mathrm{<figure-callout\; id="0"\; label="k"\; filenames="HDA00002780177800042.png,HDA00002780177800052.png"\; state="\{\{state\}\}">k</figure-callout>}}_0\&le;\left|u\right|<k_1\\ 0& k_1\&le;\left|u\right|\end{array}\right.$ Carry out iteration, obtain anti-poor deviational survey data DDB;

ω represents weight, and u represents the poor of complete deviational survey data and weighted average, k ₀Point, k are eliminated in expression first ₁Point is eliminated in expression second.

In the present invention, because the native system Data Update is spaced apart 100ms, be 1～2m/s in the down-hole speed of service, consider simultaneously according to relevant oil standard the robustness that data are processed, data handling capacity is decided to be 25, but upgrade 10 data at every turn, namely add with these 15 data that obtain proofreading and correct the data that 10 pending data were processed as next time.Initiating terminal is first processed 50 numbers to guarantee the accuracy of initial information simultaneously.Set iteration step length and be 25 and to upgrade step-length be 10.

Step 104: add up anti-poor deviational survey data DDB and be weighted processing, obtaining weighting deviational survey data DDC; Ask the current weighted average A of weighting deviational survey data DDC _nCurrent weighted average A _nIn n represent iterations;

Step 105: ask current weighted average A _nWith a front weighted average A _n-1Difference be designated as Δ A _n, Δ A _n=A _n-A _n-1

Step 106: judgement Δ A _n＜10 ^-4, namely when the difference of the weighted average of twice iteration in front and back whether less than 10 ^-4, less than stopping iteration, output M value data estimator DM;

If Δ A _n〉=10 ^-4, repeating step 101 to step 105 is carried out anti-poor processing of repetition, until the difference of the weighted average of twice iteration in satisfied front and back is less than 10 ^-4

Fig. 4 A is the upper survey procedure division data of 73-12x inclinometer for oil well of reviving.Abscissa is data amount check (500), and ordinate is hole angle α.For guaranteeing the comprehensive of experimental data, increase by 7 place's rough errors, at rough error, monodrome type rough error appears quantitatively having comprised, in flakes the type rough error; Forward type rough error, negative sense type rough error and positive and negative alternate type rough error have been comprised on rough error numerical value.

Fig. 4 B is the deviational survey data after the IGG of sane estimation iteration module 10 is processed.After data were processed through anti-difference, burr had lacked, but sees or a lot of burrs are arranged from details, as shown in Fig. 4 C.

(2) the filtering burr is removed module 20

In engineering reality, the corresponding time of deviational survey data that gathers 10～15 is 1～2 second, corresponding optic fiber gyroscope inclinometer has moved 1～2 meter, in short distance like this, hole angle and azimuthal variation not only do not have actual physical significance, and the later stage is smoothly brought impact, so these type of data should be removed as noise.

The filtering burr remove that 20 pairs of modules receive M value data estimator DM(be weighted average) carry out the disposal of gentle filter, obtain the deviational survey audio data AD M after deburring.

Fig. 5 A is two groups of Data Comparison figure after filtering, Fig. 5 B be Detail contrast figure (for convenience of observing, with initial data stagger one indivisible).Fig. 5 C is the hole deviation datagram after the disposal of gentle filter.

In the present invention, the disposal of gentle filter can be estimated with reference to the fixed interval optimal smoothing of " computational methods of optimal estimation " content of chapters and sections, the Shi Zhongke work, and Science Press publishes, May calendar year 2001.

(3) the smoothed cubic spline module 30

Be three-dimensional full curve in the space due to well track, available cubic parameter spline function is described.Cubic parameter spline function is to carry out curve fitting to reach according to some validity feature points unknown characteristics is carried out interpolative prediction.In the present invention, adopting cubic parameter spline function is that validity feature point according to some well tracks carries out curve fitting, and to reach, unknown characteristics is carried out interpolative prediction, realizes the purpose that missing data is repaired.

In the present invention, the deviational survey data after deburring are carried out smoothing processing with cubic B-spline, obtain batten deviational survey data.

Step 301: deviational survey audio data AD M after the described deburring that receives is carried out the filtering window width and upgrades the step-length setting, obtain input sample of data;

In the present invention, described filtering window width is set to 25, upgrades step-length and is set to 10.

Because the optic fiber gyroscope inclinometer Data Update is spaced apart 100ms, the down-hole speed of service is 1～2m/s, according to relevant oil standard, consider the reliability that data are processed, data handling capacity is decided to be 25, but upgrade 15 data at every turn, namely add with these 15 data that obtain proofreading and correct the data that 10 pending data were processed as next time.

Step 302: input sample of data is carried out B-spline curve, output match deviational survey data SDM;

Step 303: extract front 10 numbers in the match deviational survey data SDM deviational survey data estimation parameter after level and smooth as batten;

Rear 15 numbers that extract in match deviational survey data SDM are upgraded input sample of data;

Step 304: judge that deviational survey data length DDL whether to finishing, if arrive the afterbody of deviational survey data length, finishes the smoothed cubic spline of deviational survey data after deburring is processed, output match deviational survey data SDM; If do not arrive the afterbody of deviational survey data length, repeating step 302 and step 303 are until arrive the afterbody of deviational survey data length.

In the present invention, adopting cubic parameter spline function is that validity feature point according to some well tracks carries out curve fitting, and to reach, unknown characteristics is carried out interpolative prediction, realizes the purpose that missing data is repaired.Deviational survey data after processing through two steps of front are level and smooth with cubic B-spline, and making well track is three-dimensional full curve in the space.And at the batten Nodes, cubic spline is continuous, and continuous one, second dervative is arranged, and this and engineering scene are coincide.Hole deviation datagram after process batten as shown in Figure 6 is level and smooth.

Claims (4)

1. treatment system afterwards based on the deviational survey data of optic fiber gyroscope inclinometer, this system is the measurement unit difference that exists for the actual measurement deviational survey data that solve optic fiber gyroscope inclinometer and the hole trajectory data that needs reduction, this difference will cause the well track of reduction to have very large deviation, follow-up geologic information be explained be brought misleading; Described optic fiber gyroscope inclinometer has center processor at least, and the treatment system afterwards of deviational survey data is stored in center processor;

It is characterized in that: the treatment system afterwards of deviational survey data includes IGG iteration module (10), the filtering burr of sane estimation and removes module (20) and smoothed cubic spline module (30);

Include following treatment step in the sane IGG iteration module (10) of estimating:

Step 101: the sane IGG iteration module of estimating 10 receives optic fiber gyroscope inclinometer and measures in real time the complete deviational survey data DD of output;

Step 102: the method for estimation that described complete deviational survey data DD adopts M to estimate is processed, obtained estimated value DDA;

Step 103: adopt the IGG method in iteration method with variable weights to press weight function to estimated value DDA $\mathrm{\&omega;}\left(u\right)=\left\{\begin{array}{cc}1& \left|u\right|\&le;k_0\\ k_0/\left|u\right|& k_0\&le;\left|u\right|<k_1\\ 0& k_1\&le;\left|u\right|\end{array}\right.$ Carry out iteration, obtain anti-poor deviational survey data DDB;

ω represents weight, and u represents the poor of complete deviational survey data and weighted average, k ₀Point, k are eliminated in expression first ₁Point is eliminated in expression second;

Step 104: add up anti-poor deviational survey data DDB and be weighted processing, obtaining weighting deviational survey data DDC; Ask the current weighted average A of weighting deviational survey data DDC _nCurrent weighted average A _nIn n represent iterations;

Step 105: ask current weighted average A _nWith a front weighted average A _n-1Difference be designated as Δ A _n, Δ A _n=A _n-A _n-1

Step 106: judgement Δ A _n＜10 ^-4, namely when the difference of the weighted average of twice iteration in front and back whether less than 10 ^-4, less than stopping iteration, output M value data estimator DM;

If Δ A _n〉=10 ^-4, repeating step 101 to step 105 is carried out anti-poor processing of repetition, until the difference of the weighted average of twice iteration in satisfied front and back is less than 10 ^-4

The filtering burr remove module (20) to receive M value data estimator DM carry out the disposal of gentle filter, obtain the deviational survey audio data AD M after deburring;

In smoothed cubic spline module (30), the deviational survey data after deburring are had with the step that cubic B-spline carries out smoothing processing:

Step 301: deviational survey audio data AD M after the described deburring that receives is carried out the filtering window width and upgrades the step-length setting, obtain input sample of data;

Described filtering window width is set to 25, upgrades step-length and is set to 10.

Step 302: input sample of data is carried out B-spline curve, output match deviational survey data SDM;

Step 303: extract front 10 numbers in the match deviational survey data SDM deviational survey data estimation parameter after level and smooth as batten;

Rear 15 numbers that extract in match deviational survey data SDM are upgraded input sample of data;

Step 304: judge that deviational survey data length DDL whether to finishing, if arrive the afterbody of deviational survey data length, finishes the smoothed cubic spline of deviational survey data after deburring is processed, output match deviational survey data SDM; If do not arrive the afterbody of deviational survey data length, repeating step 302 and step 303 are until arrive the afterbody of deviational survey data length.

2. the treatment system afterwards of a kind of deviational survey data based on optic fiber gyroscope inclinometer according to claim 1, it is characterized in that: the treatment system afterwards of described deviational survey data is embedded in center processor.

3. the treatment system afterwards of a kind of deviational survey data based on optic fiber gyroscope inclinometer according to claim 1, it is characterized in that: in smoothed cubic spline module (30), the optic fiber gyroscope inclinometer Data Update of choosing is spaced apart 100ms, the down-hole speed of service is 1～2m/s, data handling capacity is decided to be 25, but upgrade 15 data at every turn, namely add with these 15 data that obtain proofreading and correct the data that 10 pending data were processed as next time.

4. the treatment system afterwards of a kind of deviational survey data based on optic fiber gyroscope inclinometer according to claim 1, it is characterized in that: in the sane IGG iteration module (10) of estimating, the optic fiber gyroscope inclinometer Data Update of choosing is spaced apart 100ms, the down-hole speed of service is 1～2m/s, data handling capacity is decided to be 25, but upgrade 10 data at every turn, namely add with these 15 data that obtain proofreading and correct the data that 10 pending data were processed as next time; Set iteration step length and be 25 and to upgrade step-length be 10.

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