CN103883255B - A kind of horizontal well landing path control method based on continuous steerable drilling well - Google Patents

Abstract

The invention discloses a kind of horizontal well Landing Control method based on continuous steerable drilling well, the method comprises the following steps: S101, according to deviational survey data, adopts the trajectory parameters of calculation by extrapolation shaft bottom point; S102, on target plane, select position into target spot, calculate the space coordinates of target spot under mouth coordinate system; S103, adopt and comprise the equal continuous circular arc well section of two curvature as casing program; S104, choose the design build angle rate of Landing Control, and then design or select guide drilling tool; The technical data of S105, the trajectory parameters according to shaft bottom point, the trajectory parameters entering target spot and design build angle rate design level well Landing Control; S106, calculating trajectory parameters, and export design result.The control method that the present invention proposes not only can meet double requirements into target position and rarget direction simultaneously, also has that technique is simple, operation is few, efficiency is high, low cost and other advantages.

Description

A kind of horizontal well landing path control method based on continuous steerable drilling well

Technical field

The present invention relates to oil drilling field, particularly relate to a kind of horizontal well Landing Control method based on continuous steerable drilling well.

Background technology

Hole trajectory control is complicated many disturbances control procedure, and wherein the technological difficulties of horizontal well Landing Control scheme are: need the double requirements simultaneously met into target position and rarget direction, to pull off a soft landing.

At present in horizontal drilling work progress, the distance of drill bit distance target area is nearer, and the TRAJECTORY CONTROL for drill bit requires higher.In actual application, the critical stage of horizontal well Landing Control is, in the scope of drill bit distance target area window tens of meters.Now the landing path of level of control well not only will meet the double requirements into target position and rarget direction, also needs to adopt the simplest technique and operation as far as possible, reduces difficulty of construction, improves wellbore quality.

At present, existing soft landing control program adopts " straightway-curved section-straightway-curved section-straightway " casing program, need when creeping into different well section to change drilling assembly continually, for five-part form casing program of the prior art, at least need use three to overlap drilling assembly, make a trip four times, have a strong impact on bit speed and wellbore quality.

There is following defect in existing horizontal well landing path control method: the Landing Control scheme of horizontal well does not organically combine with target area by (1), causes Landing Control scheme and enter target requirement to be separated; (2) working procedure is many, and drilling technology is complicated, and drilling well timeliness is low.

Summary of the invention

The present invention is directed to the deficiency of the horizontal well Landing Control method occurred in existing wellbore construction process, propose a kind of Landing Control method of new horizontal well.

Horizontal well Landing Control method based on continuous steerable drilling well provided by the invention comprises the following steps:

S101, employing steering tool obtain the deviational survey data of drilling trajectory, by the actual steerable drilling technique used, adopt the trajectory parameters of calculation by extrapolation shaft bottom point b, described trajectory parameters comprises the space coordinates under the hole angle of described shaft bottom point b, azimuth and mouth coordinate system;

S102, on target plane, select position into target spot e, based on the placing attitude of target plane, calculate the space coordinates of target spot e under mouth coordinate system;

S103, adopt and comprise the equal continuous circular arc well section of two curvature as casing program, the continuous steerable realizing horizontal well soft landing controls;

S104, Landing Control requirement according to horizontal well, choose the design build angle rate of Landing Control, and then design or select guide drilling tool;

S105, according to the trajectory parameters of described shaft bottom point b, enter the trajectory parameters of target spot e and the technical data of described design build angle rate design level well Landing Control, described technical data comprises tool face azimuth and the segment length of two arc sections;

S106, according to horizontal well Landing Control scheme and well track designing requirement, calculate the trajectory parameters of each node and branch on landing path, and export design result in graphical form, as the foundation of horizontal well Landing Control construction.

Method according to a further aspect of the invention, in described step S102, enters the space coordinates of target spot e described in calculating in accordance with the following methods:

On target plane, with target spot t for the origin of coordinates, with vertical upwards for x-axis, level are to the right for y-axis, select (the x of coordinate in length and breadth into target spot e _e, y _e), according to the space coordinates (N of target spot t _t, E _t, H _t), enter the target plane coordinate (x of target spot _e, y _e) and the azimuth angle of normal φ of target plane _z, calculate the space coordinates (N into target spot _e, E _e, H _e):

Method according to a further aspect of the invention, in described step S103, the continuous steerable realizing horizontal well soft landing as follows controls: adopt " the first straightway-the first arc section-the second arc section-the second straightway " casing program, wherein two arc section is adjacent and curvature is equal.

Method according to a further aspect of the invention, in described step S104, choose design build angle rate and the guide drilling tool of Landing Control as follows: the design build angle rate of Landing Control refers to the build angle rate used when designing landing path control program, the i.e. curvature of two arc sections in described casing program, guide drilling tool build angle rate should higher than design build angle rate 10% ~ 20%.

Method according to a further aspect of the invention, designs the technical data that landing path controls in accordance with the following steps in described step S105:

The well tangent line of S201, the second arc section point at the whole story meets at a n, and some n is equal to the length of this circular arc point at the whole story, its tangential length u ₃represent, and choose a u ₃initial value u ₃ ⁰;

S202, according to described in segment length's Δ L of the second straightway of entering the space coordinates of target spot e, rarget direction, the second arc section tangential length initial value and providing ₄, it is the 4th well section on casing program, adopts following formulae discovery second arc section to put the space coordinates of the point of intersection of tangents n whole story:

S203, with shaft bottom point b for the origin of coordinates, set up right-handed coordinate system b-ξ η ζ, wherein, ζ axle points to the tangential direction of well track, η axle is the normal direction of Space Oblique plane, ξ axle is perpendicular to ζ axle and η axle and point to the inter normal direction of landing path, is calculated as follows the space coordinates of described intersection point n under the coordinate system of shaft bottom:

Wherein,

Wherein, d is the distance of shaft bottom point (b) to described intersection point n, is also the mould from shaft bottom point (b) to described intersection point n-tuple; B is Space Oblique plane Ω ₂the mould of normal line vector; (a _n, a _e, a _h) be the direction cosines of ξ coordinate axes under mouth coordinate system O-NEH; (b _n, b _e, b _h) be the direction cosines of η coordinate axes under mouth coordinate system O-NEH; (c _n, c _e, c _h) be the direction cosines of ζ coordinate axes under mouth coordinate system O-NEH; (d _n, d _e, d _h) be from shaft bottom point (b) to the direction cosines of described intersection point n-tuple under mouth coordinate system O-NEH,

S204, tangential length according to the space coordinates of described intersection point n under the coordinate system of shaft bottom and the second arc section point at the whole story, for segment length's Δ L of design build angle rate κ or corresponding radius of curvature R and the first straightway ₁these 2 parameters, known one, another parameter can be designed:

As segment length's Δ L of known first straightway ₁time, calculate design build angle rate as follows

As Known designs build angle rate κ or corresponding radius of curvature R, calculate the segment length of the first straightway as follows

S205, according to following formulae discovery the angle of bend of the first arc section, i.e. the angle of bend ε of the 2nd well section on casing program ₂:

The hole angle α at S206, described first arc section and the second arc section tie point c place _cwith azimuth φ _c, be calculated as follows:

S207, adopt the tangential length u that described in following formulae discovery, the second arc section is new ₃:

Wherein, cos ε ₃=cos α _ccos α _e+ sin α _csin α _ecos (φ _e-φ _c);

If S208 is described new tangential length u ₃and initial value u ₃ ⁰meet | u ₃-u ₃ ⁰| < ε, wherein, ε is the computational accuracy of requirement, then complete iterative computation; Otherwise, make u ₃ ⁰=u ₃, turn back to step S202, repeat above-mentioned calculating, until meet required precision;

After meeting required precision, be calculated as follows the tool face azimuth ω of described first arc section and the second arc section (on casing program the 2nd well section and the 3rd well section) ₂, ω ₃with segment length's Δ L ₂with Δ L ₃:

Method according to a further aspect of the invention, there is a casing program the simplest, described casing program only comprises two arc sections, and its method for designing still adopts described step S201-S208, only need make Δ L ₁=Δ L ₄=0; Now determined build angle rate is also the minimal design build angle rate that can realize continuous steerable Landing Control, can be calculated as follows:

Present invention offers following beneficial effect:

(1) the present invention proposes the integrated technique that horizontal well Landing Control and target area organically combine, the double requirements into target position and rarget direction can be met simultaneously;

(2) propose continuous steerable Landing Control technology and Design Method, have that technique is simple, operation is few, efficiency is high, low cost and other advantages;

(3) under suitable condition, adopting a set of drilling assembly just can realize the accurate landing of horizontal well, is the horizontal well Landing Control method that technique is the simplest, drilling efficiency is the highest.

Other features and advantages of the present invention will be set forth in the following description, and partly become apparent from manual, or understand by implementing the present invention.Object of the present invention and other advantages realize by structure specifically noted in manual, claims and accompanying drawing and obtain.

Accompanying drawing explanation

Fig. 1 is horizontal well Landing Control principle schematic of the present invention;

Fig. 2 is the principle schematic of the continuous steerable Landing Control of one embodiment of the invention;

Fig. 3 is the technical flow figure of the horizontal well continuous steerable Landing Control that the embodiment of the present invention provides;

Fig. 4 is the method flow diagram of design continuous steerable Landing Control technical data of the present invention;

Fig. 5 is the most succinct continuous steerable Landing Control casing program schematic diagram of the present invention.

Detailed description of the invention

Describe embodiments of the present invention in detail below with reference to accompanying drawing, to the present invention, how application technology means solve technical problem whereby, and the implementation procedure reaching technique effect can fully understand and implement according to this.It should be noted that, only otherwise form conflict, each feature in various embodiments of the present invention and each embodiment can be combined with each other, and the technical scheme formed is all within protection scope of the present invention.

In addition, can perform in the computer system of such as one group of computer executable instructions in the step shown in the flow chart of accompanying drawing, and, although show logical order in flow charts, but in some cases, can be different from the step shown or described by order execution herein.

The invention provides the landing path control method based on continuous steerable drilling well in horizontal well construction process.Fig. 1 shows horizontal well Landing Control principle schematic of the present invention.As shown in Figure 1, the designed path of horizontal well often requires by target spot t, and drilling trajectory has bored and reached shaft bottom point b, namely current bit location, and landing path bores the track to be drilled reached into target spot e from the some b of shaft bottom.The Landing Control scheme of horizontal well will design landing path and drilling technology parameter thereof exactly, makes it meet double requirements into target position and rarget direction simultaneously, namely pulls off a soft landing.

Fig. 2 is the principle schematic of continuous steerable Landing Control of the present invention.As shown in Figure 2, will meet the double requirements into target position and rarget direction, its casing program at least needs to comprise 2 curve well sections simultaneously.The present invention adopts " straightway-arc section-arc section-straightway " casing program, and the continuous steerable realizing horizontal well soft landing controls.Wherein two arc section is adjacent and curvature is equal, therefore change guide drilling tool without the need to midway and just can complete continuous regulation and control to well direction (comprising hole angle and azimuth), decrease and change drilling assembly and the number of times that makes a trip.Meanwhile, head and the tail two straightways are allowed some leeway to hole trajectory control, to make up the probabilistic impact of the deflecting such as stratum, guide drilling tool performance.

As illustrated in fig. 1 and 2, for the ease of setting forth content of the present invention, establish following 3 coordinate systems:

1. mouth coordinate system.Using well head as the initial point of coordinate system, set up O-NEH coordinate system.Wherein, N axle points to direct north, and E axle points to direction, due east, and H axle vertical points to vertical depth direction downwards;

2. target coordinate system.With target spot t for initial point, with the exterior normal of target plane (drill bit advancing direction) for z-axis, with the intersection crossing vertical plane and the target plane of z-axis for x-axis and to get high edge direction be just, according to right-hand rule determination y-axis, set up coordinate system t-xyz;

3. shaft bottom coordinate system.With shaft bottom point b for initial point, set up right-handed coordinate system b-ξ η ζ.Wherein, ζ axle points to the tangential direction of well track, and η axle is Space Oblique plane Ω ₂normal direction, ξ axle is perpendicular to ζ axle and η axle and point to the inter normal direction of landing path.

Implement the present invention and need following given data:

1. the trajectory parameters of shaft bottom point, comprises the space coordinates (N of shaft bottom point (b) under mouth coordinate system _b, E _b, H _b) and well direction (α _b, φ _b);

2. target area parameter, comprises the space coordinates (N of target spot (t) under mouth coordinate system _t, E _t, H _t) and the azimuth angle of normal φ of target plane _z;

3. enter target parameter, include the coordinate (x of target spot (e) under target coordinate system _e, y _e) and rarget direction (α _e, φ _e) and enter segment length's Δ L of straightway (i.e. the second straightway) before target ₄.

The horizontal well Landing Control scheme that the present invention will obtain based on continuous steerable drilling well, its important technological parameters comprises:

1. the design build angle rate κ (or radius of curvature R) of two arc sections or segment length's Δ L of the first straightway ₁;

2. the hole angle α of two arc sections tie point (c) _cwith azimuth φ _c;

3. tool face azimuth (the ω of two arc sections ₂, ω ₃) and segment length (Δ L ₂, Δ L ₃).

In addition, the present invention also relates to some intermediate parameters in implementation process, comprises the angle of bend ε of the first arc section and the second arc section ₂and ε ₃, the second arc section puts the space coordinates (N of the point of intersection of tangents n whole story _n, E _n, H _n), second arc section whole story point tangential length u ₃deng.

Embodiment one

Fig. 3 is the technical flow figure of the horizontal well continuous steerable Landing Control that the embodiment of the present invention provides, and the method comprises:

S101, deviational survey data according to drilling trajectory, calculate or the trajectory parameters of prediction shaft bottom point b, comprise the hole angle of described shaft bottom point b, azimuth and space coordinates.

Particularly, can the instrument measurement while drilling drilling trajectory such as MWD be utilized, according to the steerable drilling process choice clinometers calculation method that reality uses, adopt calculation by extrapolation or dope the space coordinates (N of shaft bottom point _b, E _b, H _b) and well direction (α _b, φ _b).

S102, on target plane, select the coordinate (x of target spot e under target coordinate system _e, y _e), based on pre-designed target area parameter, calculate the space coordinates of target spot e under mouth coordinate system.

In actual application, the target window that enters of horizontal well is positioned at vertical plane, and this plane is referred to as target plane.In the present embodiment, the position of target plane and placing attitude are given in advance.Because target plane is by target spot t, and the target plane of horizontal well is vertical placement, so target coordinate (N _t, E _t, H _t) be given data, and the placing attitude of target plane can with its azimuth angle of normal φ _zcharacterize.

S103, adopt and comprise two adjacent and arc sections that curvature is equal as casing program, the continuous steerable realizing horizontal well soft landing controls.

Will meet the double requirements into target position and rarget direction, its casing program at least needs to comprise 2 curve well sections simultaneously.The present invention adopts " straightway-arc section-arc section-straightway " casing program, and the continuous steerable realizing horizontal well soft landing controls.Wherein two arc section is adjacent and curvature is equal, therefore change guide drilling tool without the need to midway and just can complete continuous regulation and control to well direction (comprising hole angle and azimuth), decrease and change drilling assembly and the number of times that makes a trip.Meanwhile, head and the tail two straightways are allowed some leeway to hole trajectory control, to make up the probabilistic impact of the deflecting such as stratum, guide drilling tool performance.

S104, Landing Control requirement according to horizontal well, choose the design build angle rate of Landing Control, and then design or select guide drilling tool.

The design build angle rate of Landing Control refers to the build angle rate used when designing landing path control program, i.e. the curvature of two arc sections in described casing program.If the design build angle rate chosen is too high, can increase drill string and casing string frictional resistance and under enter difficulty, and reduce the choice of guide drilling tool; If the design build angle rate chosen is too low, the regulation and control leeway of landing path can be reduced, even cannot design the control program of landing path.

Choose the preparation that design build angle rate also should consider existing guide drilling tool, if do not have suitable guide drilling tool available, can cause implementing landing path control program.Usually, the guide drilling tool build angle rate used should higher than design build angle rate 10% ~ 20%.

The data such as S105, the trajectory parameters according to described shaft bottom point b, the trajectory parameters entering target spot e and described design build angle rate, the technical data of design level well Landing Control, described technical data comprises tool face azimuth and the segment length of two arc sections.

In step S105, trajectory parameters comprises space coordinates and rarget direction.

S106, according to horizontal well Landing Control scheme and well track designing requirement, calculate the trajectory parameters of each node and branch on landing path, and export design result in graphical form, as the foundation of horizontal well Landing Control construction.

Can be specially in above-mentioned steps S102:

Described enter the coordinate of target spot e under target coordinate system be (x _e, y _e), the azimuth angle of normal φ of known target plane _z, the space coordinates of target spot (t) under mouth coordinate system is (N _t, E _t, H _t), according to formula

Calculate the space coordinates into target spot (e).

Fig. 4 is the method flow diagram of design continuous steerable Landing Control technical data of the present invention, can be specially following steps at above-mentioned steps S105:

The well tangent line of S201, the second arc section point at the whole story meets at n point, and n point is equal to the length of this circular arc point at the whole story, its tangential length u ₃represent.For implementing iterative computation, a u should be chosen ₃initial value u ₃ ⁰;

Segment length's Δ L of the space coordinates of target spot, rarget direction, the second arc section tangential length initial value and the second straightway is entered described in S202, basis ₄, the 4th well section namely on casing program, adopts following formulae discovery second arc section to put the space coordinates of the point of intersection of tangents n whole story:

S203, according to the transformational relation between shaft bottom coordinate system and mouth coordinate system, be calculated as follows the space coordinates of described intersection point n under the coordinate system of shaft bottom:

Wherein,

Wherein, d is the distance of shaft bottom point b to described intersection point n, is also the mould from shaft bottom point b to described intersection point n-tuple; B is Space Oblique plane Ω ₂the mould of normal line vector; (a _n, a _e, a _h) be the direction cosines of ξ coordinate axes under mouth coordinate system O-NEH; (b _n, b _e, b _h) be the direction cosines of η coordinate axes under mouth coordinate system O-NEH; (c _n, c _e, c _h) be the direction cosines of ζ coordinate axes under mouth coordinate system O-NEH; (d _n, d _e, d _h) be direction cosines from shaft bottom point b to described intersection point n-tuple under mouth coordinate system O-NEH.

S204, tangential length according to the space coordinates of described intersection point n under the coordinate system of shaft bottom and the second arc section point at the whole story, for segment length's Δ L of design build angle rate κ (or corresponding radius of curvature R) and the first straightway ₁these 2 parameters, known one, can design another parameter.

As segment length's Δ L of known first straightway ₁time, calculate design build angle rate as follows:

When Known designs build angle rate κ (or corresponding radius of curvature R), calculate the segment length of the first straightway as follows:

S205, according to following formulae discovery the angle of bend of the first arc section, i.e. the 2nd well on casing program

The hole angle α at S206, described first arc section and the second arc section tie point c place _cwith azimuth φ _c, be calculated as follows:

S207, adopt the tangential length u that described in following formulae discovery, the second arc section is new ₃:

Wherein,

If S208 is described new tangential length u ₃and initial value u ₃ ⁰meet | u ₃-u ₃ ⁰| < ε (wherein, ε is the computational accuracy of requirement), then complete iterative computation; Otherwise, make u ₃ ⁰=u ₃, turn back to step S202, repeat above-mentioned calculating, until meet required precision.

After meeting required precision, be calculated as follows the tool face azimuth ω of described first arc section and the second arc section (on casing program the 2nd well section and the 3rd well section) ₂, ω ₃with segment length's Δ L ₂with Δ L ₃:

Fig. 5 is the most succinct continuous steerable Landing Control casing program schematic diagram of the present invention.When various uncertain factor impact is less, head and the tail two straightways can be cancelled, and the continuous steerable adopting the simplest casing program to realize horizontal well landing controls.This casing program only comprises two arc sections, and its method for designing still adopts described step S201-S208, only need get Δ L ₁=Δ L ₄=0.Under meeting the condition of target position and rarget direction double requirements at the same time, the build angle rate that this situation is determined also is the minimal design build angle rate that can realize continuous steerable Landing Control, can be calculated as follows:

(18)

Embodiment two

Illustrate know-why of the present invention and step for certain real standard well below how to realize landing path and control.

The target coordinate of certain horizontal well is: northern coordinate N _t=140m, eastern coordinate E _t=242.5m, vertical depth H _t=1500m, the azimuth angle of normal φ of target plane _z=60 °.When creeping into well depth 1551.93m, calculating through drilling trajectory and knowing: the hole angle α of shaft bottom point _b=70 °, azimuth φ _b=55 °, northern coordinate N _b=99.03m, eastern coordinate E _b=160.63m, vertical depth H _b=1478.88m.To ask into target coordinate x _e=1m, y _e=-3m, namely enters target spot and is positioned at 1m above target spot, left side 3m, enter target hole angle α _e=88 °, enter target azimuth φ _e=61 °, directly land after deflecting, i.e. segment length's Δ L of the second straightway ₄=0, trial-ray method is applicable to the landing path control program that continuous steerable creeps into.

Choose design build angle rate κ=9 °/30m, corresponding radius of curvature R=190.99m.Should, higher than the principle of design build angle rate 10% ~ 20%, build angle rate should be selected to be the guide drilling tool that 10 °/about 30m is even higher by instrument build angle rate.

By formula (1), calculate enter the space coordinates (N of target spot _e, E _e, H _e):

Choose the initial value u of the second arc section tangential length ₃ ⁰=15.00m, according to formula (2) ~ (15) in embodiment one, calculates: segment length's Δ L of the first arc section ₂=9.99m, the hole angle α of the tie point of the first arc section and the second arc section _c=80.00 ° and azimuth φ _c=67.00 °, the angle of bend ε of two arc sections ₂=15.29 °, ε ₃=9.98 °, and the unit coordinate vector a of ξ axle _n=-0.5124, a _e=0.6219, a _h=-0.5922.

Then, according to formula (16) and formula (17), calculate to obtain the tool face azimuth of the first arc section and segment length:

And second arc section tool face azimuth and segment length:

Finally, node and point point data of landing path can be calculated according to the space circular arc model of well track, and then vertical cross section and the horizontal projection of landing path can be drawn.Wherein, the node data of landing path is in table 1.

The node data of table 1 embodiment landing path

If get Δ L ₁=0, by technical flow of the present invention, calculate: minimal design build angle rate κ _min=7.61 °/30m.If adopt this build angle rate to design Landing Control scheme, will obtain casing program as shown in Figure 5, the node data of its landing path is in table 2.This casing program only comprises two arc sections, therefore only a set of drilling assembly need be used just can to realize the continuous steerable Landing Control of horizontal well, is the horizontal well Landing Control scheme that technique is the simplest, operation is minimum, most effective.

The node data of the most succinct landing path of table 2 embodiment

Although the embodiment disclosed by the present invention is as above, the embodiment that described content just adopts for the ease of understanding the present invention, and be not used to limit the present invention.Technician in any the technical field of the invention; under the prerequisite not departing from the spirit and scope disclosed by the present invention; any amendment and change can be done what implement in form and in details; but scope of patent protection of the present invention, the scope that still must define with appending claims is as the criterion.

Claims (6)

1., based on a horizontal well Landing Control method for continuous steerable drilling well, it is characterized in that, comprise the following steps:

S101, employing steering tool obtain the deviational survey data of drilling trajectory, by the actual steerable drilling technique used, adopt the trajectory parameters in calculation by extrapolation shaft bottom point (b), described trajectory parameters comprises the space coordinates under the hole angle in described shaft bottom point (b), azimuth and mouth coordinate system;

S102, on target plane, select position into target spot (e), based on the placing attitude of target plane, calculate the space coordinates of target spot (e) under mouth coordinate system;

S103, adopt and comprise the equal continuous circular arc well section of two curvature as casing program, the continuous steerable realizing horizontal well soft landing controls;

S104, Landing Control requirement according to horizontal well, choose the design build angle rate of Landing Control, and then design or select guide drilling tool;

S105, according to the trajectory parameters of described shaft bottom point (b), enter the trajectory parameters of target spot (e) and the technical data of described design build angle rate design level well Landing Control, described technical data comprises tool face azimuth and the segment length of two arc sections;

S106, according to horizontal well Landing Control scheme and well track designing requirement, calculate the trajectory parameters of each node and branch on landing path, and export design result in graphical form, as the foundation of horizontal well Landing Control construction.

2. the method for claim 1, is characterized in that, in described step S102, enters the space coordinates of target spot (e) described in calculating in accordance with the following methods:

On target plane, with target spot (t) for the origin of coordinates, with vertical upwards for x-axis, level are to the right for y-axis, select (the x of coordinate in length and breadth into target spot (e) _e, y _e), according to the space coordinates (N of target spot (t) _t, E _t, H _t), enter the target plane coordinate (x of target spot _e, y _e) and the azimuth angle of normal φ of target plane _z, calculate the space coordinates (N into target spot _e, E _e, H _e):

$\left\{\begin{array}{c}{N}_e=N_t-y_{e}sin{\mathrm{\&phi;}}_z\\ E_e=E_t+y_e{\mathrm{cos\&phi;}}_z\\ H_e=H_t-x_e\end{array}\right..$

3. the method for claim 1, is characterized in that, in described step S103, the continuous steerable realizing horizontal well soft landing as follows controls:

Adopt " the first straightway-the first arc section-the second arc section-the second straightway " casing program, wherein two arc section is adjacent and curvature is equal.

4. method as claimed in claim 3, is characterized in that, in described step S104, choose design build angle rate and the guide drilling tool of Landing Control as follows:

The design build angle rate of Landing Control refers to the build angle rate used when designing landing path control program, i.e. the curvature of two arc sections in described casing program, and guide drilling tool build angle rate should higher than design build angle rate 10% ~ 20%.

5. the method according to any one of claim 2-4, is characterized in that, designs the technical data that landing path controls in described step S105 in accordance with the following steps:

The well tangent line of S201, the second arc section point at the whole story meets at a n, and some n is equal to the length of this circular arc point at the whole story, its tangential length u ₃represent, and choose a u ₃initial value u ₃ ⁰;

S202, according to described in segment length's Δ L of the second straightway of entering the space coordinates of target spot (e), rarget direction, the second arc section tangential length initial value and providing ₄, wherein Δ L ₄for the 4th well section on casing program, following formulae discovery second arc section is adopted to put the space coordinates of the point of intersection of tangents n whole story: $\left\{\begin{array}{c}{N}_n=N_e-({u_3}^0+\mathrm{\&Delta;}{L}_4)\sin {\mathrm{\&alpha;}}_e\cos {\mathrm{\&phi;}}_e\\ E_n=E_e-({u_3}^0+\mathrm{\&Delta;}{L}_4)\sin {\mathrm{\&alpha;}}_e\sin {\mathrm{\&phi;}}_e\\ H_n=H_e-({u_3}^0+\mathrm{\&Delta;}{L}_4)\cos {\mathrm{\&alpha;}}_e\end{array}\right.;$

S203, with shaft bottom point (b) for the origin of coordinates, set up right-handed coordinate system b-ξ η ζ, wherein, ζ axle points to the tangential direction of well track, η axle is the normal direction of Space Oblique plane, ξ axle is perpendicular to ζ axle and η axle and point to the inter normal direction of landing path, is calculated as follows the space coordinates of described intersection point n under the coordinate system of shaft bottom:

$\left\{\begin{array}{c}{\mathrm{\&xi;}}_n\\ {\mathrm{\&eta;}}_n\\ {\mathrm{\&zeta;}}_n\end{array}\right\}=\left[\begin{array}{ccc}{a}_N& a_E& a_H\\ b_N& b_E& b_H\\ c_N& c_E& c_H\end{array}\right]\left\{\begin{array}{c}{N}_n-N_b\\ E_n-E_b\\ H_n-H_b\end{array}\right\}$

Wherein, $d=\sqrt{{(N_n-N_b)}^2+{(E_n-E_b)}^2+{(H_n-H_b)}^2}$

$\begin{array}{c}\left\{\begin{array}{c}{d}_N=(N_n-N_b)/d\\ d_E=(E_n-E_b)/d\\ d_H=(H_n-H_b)/d\end{array}\right.\\ \left\{\begin{array}{c}{c}_N={\mathrm{sin\&alpha;}}_b{\mathrm{cos\&phi;}}_b\\ c_E={\mathrm{sin\&alpha;}}_b{\mathrm{sin\&phi;}}_b\\ c_H={\mathrm{cos\&alpha;}}_b\end{array}\right.\end{array}$

$b=\sqrt{{(c_E{d}_H-d_E{c}_H)}^2+{(c_H{d}_N-d_H{c}_N)}^2+{(c_N{d}_E-d_N{c}_E)}^2}$

$\left\{\begin{array}{c}{b}_N=(c_E{d}_H-d_E{c}_H)/b\\ b_E=(c_H{d}_N-d_H{c}_N)/b\\ b_H=(c_N{d}_E-d_N{c}_E)/b\end{array}\right.$

$\left\{\begin{array}{c}{a}_N=b_E{c}_H-c_E{b}_H\\ a_E=b_H{c}_N-c_H{b}_N\\ a_H=b_N{c}_E-c_N{b}_E\end{array}\right.;$

Wherein, d is the distance of shaft bottom point (b) to described intersection point n, is also the mould from shaft bottom point (b) to described intersection point n-tuple; B is Space Oblique plane Ω ₂the mould of normal line vector; (a _n, a _e, a _h) be the direction cosines of ξ coordinate axes under mouth coordinate system O-NEH; (b _n, b _e, b _h) be the direction cosines of η coordinate axes under mouth coordinate system O-NEH; (c _n, c _e, c _h) be the direction cosines of ζ coordinate axes under mouth coordinate system O-NEH; (d _n, d _e, d _h) be from shaft bottom point (b) to the direction cosines of described intersection point n-tuple under mouth coordinate system O-NEH,

S204, tangential length according to the space coordinates of described intersection point n under the coordinate system of shaft bottom and the second arc section point at the whole story, for segment length's Δ L of design build angle rate κ or corresponding radius of curvature R and the first straightway ₁these 2 parameters, known one, another parameter can be designed:

As segment length's Δ L of known first straightway ₁time, calculate design build angle rate as follows

$\left\{\begin{array}{c}R=\frac{{{\mathrm{\&xi;}}_n}^2+{({\mathrm{\&xi;}}_n-{\mathrm{\&Delta;L}}_1)}^2-{\left({u_3}^0\right)}^2}{2{\mathrm{\&xi;}}_n}\\ \mathrm{\&kappa;}=\frac{5400}{\mathrm{\&pi;}R}\end{array}\right.$

As Known designs build angle rate κ or corresponding radius of curvature R, calculate the segment length of the first straightway as follows

${\mathrm{\&Delta;L}}_1={\mathrm{\&zeta;}}_n-\sqrt{{\left({u_3}^0\right)}^2-{{\mathrm{\&xi;}}_n}^2+2{\mathrm{R\&xi;}}_n};$

S205, according to following formulae discovery the angle of bend ε of the first arc section ₂:

The hole angle α at S206, described first arc section and the second arc section tie point place _cwith azimuth φ _c, be calculated as follows:

$\left\{\begin{array}{c}{\mathrm{cos\&alpha;}}_c=c_H{\mathrm{cos\&epsiv;}}_2+a_H{\mathrm{sin\&epsiv;}}_2\\ {\mathrm{tan\&phi;}}_c=\frac{c_E{\mathrm{cos\&epsiv;}}_2+a_E{\mathrm{sin\&epsiv;}}_2}{c_N{\mathrm{cos\&epsiv;}}_2+a_N{\mathrm{sin\&epsiv;}}_2}\end{array}\right.;$

S207, adopt the tangential length u that described in following formulae discovery, the second arc section is new ₃:

$u_3=Rtan\frac{{\mathrm{\&epsiv;}}_3}{2}$

Wherein, cos ε ₃=cos α _ccos α _e+ sin α _csin α _ecos (φ e-φ _c);

If S208 is described new tangential length u ₃and initial value u ₃ ⁰meet | u ₃-u ₃ ⁰| < ε, wherein, ε is the computational accuracy of requirement, then complete iterative computation; Otherwise, make u ₃ ⁰=u ₃, turn back to step S202, repeat above-mentioned calculating, until meet required precision;

After meeting required precision, be calculated as follows the tool face azimuth ω of described first arc section and the second arc section ₂, ω ₃with segment length's Δ L ₂with Δ L ₃, wherein said first arc section is second well section on casing program, and described second arc section is the 3rd well section on casing program:

$\left\{\begin{array}{c}tan{\mathrm{\&omega;}}_2=\frac{a_N{\mathrm{sin\&phi;}}_b-a_E{\mathrm{cos\&phi;}}_b}{a_H}sin{\mathrm{\&alpha;}}_b\\ {\mathrm{\&Delta;L}}_2=\frac{\mathrm{\&pi;}}{180}{\mathrm{R\&epsiv;}}_2\end{array}\right.$

$\left\{\begin{array}{c}tan{\mathrm{\&omega;}}_3=\frac{\sin ({\mathrm{\&phi;}}_e-{\mathrm{\&phi;}}_c)}{{\mathrm{cos\&alpha;}}_c\&lsqb;\cos ({\mathrm{\&phi;}}_e-{\mathrm{\&phi;}}_c)-\frac{{\mathrm{tan\&alpha;}}_c}{{\mathrm{tan\&alpha;}}_e}\&rsqb;}\\ {\mathrm{\&Delta;L}}_3=\frac{\mathrm{\&pi;}}{180}{\mathrm{R\&epsiv;}}_3\end{array}\right..$

6. method as claimed in claim 5, it is characterized in that, there is a casing program the simplest, described casing program only comprises two arc sections, and its method for designing still adopts described step S201-S208, only need make Δ L ₁=Δ L ₄=0; Now determined build angle rate is also the minimal design build angle rate that can realize continuous steerable Landing Control, can be calculated as follows:

${\mathrm{\&kappa;}}_{\min }=\frac{5400}{\mathrm{\&pi;}}\frac{2{\mathrm{\&xi;}}_n}{{{\mathrm{\&xi;}}_n}^2+{{\mathrm{\&zeta;}}_n}^2-{u_3}^2}.$