CN104453856A - Triolocation compensation algorithm for single-shaft fiber-optic gyroscope in oil well survey - Google Patents
Triolocation compensation algorithm for single-shaft fiber-optic gyroscope in oil well survey Download PDFInfo
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- CN104453856A CN104453856A CN201410352423.XA CN201410352423A CN104453856A CN 104453856 A CN104453856 A CN 104453856A CN 201410352423 A CN201410352423 A CN 201410352423A CN 104453856 A CN104453856 A CN 104453856A
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- accelerometer
- motor
- transposition
- compensation
- oil well
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
- E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
Abstract
The invention discloses a triolocation compensation algorithm for a single-shaft fiber-optic gyroscope in the oil well survey. According to the algorithm, an installation structure of the gyroscope and an accelerometer is adopted, a compensation calculation algorithm is conducted on output values, and the values are recorded by the accelerometer in the motor transposition process; the single-shaft fiber-optic gyroscope and the single-shaft accelerometer are adopted for forming a gyro inclinometer, the fiber-optic gyroscope and the single-shaft accelerometer are mechanically connected with a transposition mechanism through slip rings, the direction and the well deviation of each measuring point can be calculated in a triolocation mode without zero returning operation, transposition is conducted in one direction, operation is conducted cyclically by 0 degree, 90 degrees, 180 degrees, 270 degrees and 360 degrees, and the number of position point data needed in calculation is only three. According to a triolocation treatment method for the single-shaft fiber-optic gyroscope in the oil well survey, measurement time can be shortened, instrument cost is saved, and the algorithm is designed for determining the inclination and the direction of the gyro inclinometer in the fields such as oil logging and mine exploration and is worthy of application and popularization.
Description
Technical field
The present invention relates to the three position compensation computational methods of uniaxial gradiograph of optical fiber gyro in oil well deviational survey, belong to petroleum well logging technology application.
Background technology
Gyrolevel is a kind of common instrument for trajectory measurements such as oil well, mine, tunnels.Oil well logging aspect, day by day exhausted along with easy recover petroleum resource, needs in the exploration and development of the scattered oil reservoir of fritter and extended reach well, high angle hole, cluster well and horizontal well that precision is higher, well mark tests orientation device more reliably in uses.The meaning of this class testing is to re-recognize block, and readjusting for flooding pattern provides reliable basis; Help oil reservoir to excavate potentiality of remaining oil, providing reference frame for implementing well stimulation, as corrected well location, implementing remaining oil distribution, again implement oil sand body border, re-recognizing oil reservoir structure etc.; Reduce ineffective investment, reduce oil field development cost.
The instrument of existing oil well deviational survey mainly contains fluxgate inclinometer, mechanical gyro and optic fiber gyroscope inclinometer etc.Traditional fluxgate inclinometer itself is subject to the impact of surrounding's ferromagnetic material environment of geology, can only in non-magnetic environment use itself easy.Traditional mechanical gyro shock resistance is poor, drift is large, as easy as rolling off a log damage.And optical fibre gyro mechanical movable part, be made up of electronic devices and components, have shock resistance high, not by the advantage such as magnetic interference, automatic seeking north, mechanical wearing and tearing, become the mainstream technology means in current oil well deviational survey.
The core sensor of optic fiber gyroscope inclinometer is optical fibre gyro element and acceleration of gravity element.Optic fiber gyroscope inclinometer does not rely on geomagnetic field to determine orientation, and the principle of this inclinometer determination bore direction detects the component of rotational-angular velocity of the earth in instrument coordinates and boring direction, then through the complicated azimuth calculating boring.The angular velocity of earth rotation is very little, our angular velocity of the counterclockwise motion of clock seen is very little at ordinary times, but the angular velocity of counterclockwise motion, than the angular velocity also fast twice of earth rotation, will measure the angular velocity of earth rotation as seen, requires that the precision of fibre optic gyroscope can be height how.
The mode one that internal optical fiber gyrolevel is conventional adopts twin shaft dual acceleration meter to realize the test of well mark to turning two positions, and one adopts single shaft dual acceleration meter to realize the test of well mark to turning four positions.Optical fibre gyro maximum operating temperature both domestic and external is no more than 70 DEG C, and in oil well, temperature is much more than 125 DEG C, reaches as high as 175 DEG C, and in order to meet environment temperature requirement, this just needs to increase vacuum flask to optical fibre gyro.Simultaneously the precision of optical fibre gyro and sensitivity threshold all need the optical fiber of the fiber optic loop of coiling to reach certain length, otherwise cannot meet instructions for use.Oil well logging is due to the restriction of caliber, and instrument diameters has strict restriction.Twin shaft dual acceleration meter optic fiber gyroscope inclinometer diameter reaches Φ more than 70, and the diameter of oil pipe is generally Φ 62, therefore twin shaft dual acceleration meter optic fiber gyroscope inclinometer can only be used for cased well testing and cannot be used for the track testing of oil pipe, twin shaft gyro needs two light source simultaneously, its calorific value is also very large, more strict to the requirement of vacuum flask, the working time under the hot environment of down-hole also can be restricted.Single shaft dual acceleration meter optic fiber gyroscope inclinometer all adopts four positions to measure the mode of turning at home, measure at 0 °, 90 °, 180 °, 270 ° respectively, after 270 ° of tests complete, be fed back into 0 ° mutually with test direction of index again to carry out next time and test, the single-spot testing time reaches more than 5 minutes, not only inefficiency, also claims to the insulation under hot environment.
Summary of the invention
The object of the invention is to overcome prior art defect, the three position compensation algorithms of a kind of single axis fiber gyro in oil well deviational survey are provided.
The present invention is achieved through the following technical solutions above-mentioned purpose:
The present invention adopts single axis fiber gyro and single-axis accelerometer composition gyrolevel, the mechanical connection of optical fibre gyro and accelerometer and indexing mechanism adopts slip ring, each measuring point only needs three positions can calculate orientation and hole deviation, do not need back to zero, transposition can be carried out according to a direction always, namely by 0 °, 90 °, 180 °, 270 °, 360 ° are carried out the running gone round and begun again, and desired position point data only has three when calculating, thus greatly save instrument cost and testing time, also mean that instrument can in the underground work longer time, its calorific value is also little than other two kinds of modes.The basis of three position transposition energy successful Application is its core algorithms, by compensating the output valve obtaining gyroaccelerometer to position shifter error and alignment error.
In well logging, it is all when having installed a gyroscope and two accelerometers that traditional point is surveyed in gyrolevel, and the output valve recording these four position gyroes and accelerometer respectively by electric machine rotation four positions calculates gradient and the orientation of oil well.The position rotaring motor of each point of three position measurement of the present invention only needs to drive gyroaccelerometer to rotate the output valve of twice record, three positions, tests two some motors and just rotates four back to zeros again, test capable of circulation.Three position measurement gyroaccelerometer transpositions are compared four positions (needing each back to zero position) and are reduced twice, single-spot testing saving of time half.
The output valve of the three position gyro accelerometers recorded, adopts and its value is carried out to the position shifter error of motor in transposition process compensates, alignment error between gyro and accelerometer compensates and calculates, eliminate the time drift of optical fibre gyro and accelerometer.In motor transposition process, utilize photoelectric coding to carry out step-by-step counting, utilize PWM technology accurately to control the angle of transposition, in calibration process, carry out the fine compensation of position shifter error angle and step-by-step counting error amount simultaneously.Fix error angle carries out initial alignment by photoelectric pulse signal, then is compensated by turntable demarcation.
The present invention adopts the mounting structure of a gyroscope and an accelerometer, adopt and computing method is compensated to output valve, its value is recorded by motor transposition process with an accelerometer, if motor is the output valve of X-axis 0 ° time, so 90 ° time be just equivalent to the output valve of Y-axis, as long as just can required precision be reached to their the suitable of error compensation.Compared with four positions, not only simplify the design of structure and circuit, also a saving the cost of an accelerometer.
The process that the present invention demarcates is more complicated than four position methods, and the time is relatively long.Be mainly reflected on repeatedly the determining of position shifter error angle and fix error angle, but instrument is produced and only demarcated once, follow-up use is no longer demarcated, and user in use can save a lot of time.
Owing to have employed technical scheme of the present invention, the processing method of three positions of this single axis fiber gyro of the present invention in oil well deviational survey can shorten the testing time, saves instrument cost.This algorithm is that gyrolevel designs in the determination in the field such as oil well logging, mine exploration gradient, orientation, is worthy of popularization.
Accompanying drawing explanation
Fig. 1 is motor transposition schematic diagram.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.
Fig. 1 illustrates single axis fiber gyro of the present invention motor transposition schematic diagram when oil well deviational survey, the present invention is the mounting structure of employing gyroscope and an accelerometer, adopt and computing method is compensated to output valve, record its value with an accelerometer by motor transposition process; Adopt single axis fiber gyro and single-axis accelerometer composition gyrolevel, the mechanical connection of optical fibre gyro and accelerometer and indexing mechanism adopts slip ring, each measuring point three position calculation go out orientation and hole deviation, do not need back to zero, transposition is carried out according to a direction, the running being undertaken going round and beginning again by 0 °, 90 °, 180 °, 270 °, 360 °, during calculating, desired position point data only has three.
The position rotaring motor of each point of three position measurements drives gyroaccelerometer to rotate the output valve of twice record, three positions, tests two some motors and just rotates four back to zeros again, and loop test.
The output valve of the three position gyro accelerometers recorded, adopts and its value is carried out to the position shifter error of motor in transposition process compensates, alignment error between gyro and accelerometer compensates and calculates, eliminate the time drift of optical fibre gyro and accelerometer; In motor transposition process, utilize photoelectric coding to carry out step-by-step counting, utilize PWM technology accurately to control the angle of transposition, in calibration process, carry out the fine compensation of position shifter error angle and step-by-step counting error amount simultaneously; Fix error angle carries out initial alignment by photoelectric pulse signal, then is compensated by turntable demarcation.
Compensate at rotation three position output valve position shifter error and alignment error motor, if gyrostatic compensation matrix is set to Ag, the compensation matrix of accelerometer is set to Aa, and when the rotary motion trace of motor is 0-90-180, compensation matrix is:
Wherein epsl is fix error angle, and delta90 is motor transposition from the position shifter error angle of 0 ° to 90 °, and delta180 is motor transposition from the position shifter error angle of 0 ° to 180 °, and delta270 is motor transposition from the position shifter error angle of 0 ° to 270 °.
The present invention adopts the project organization of single gyro, single accelerometer, and the sensitive axes of gyro is arranged on X-axis, and the sensitive axes of accelerometer is also arranged in X-axis, adopts formula above to compensate it to the result exported.
Certainly, more than just embody rule example of the present invention, the technical scheme that the present invention also has other embodiment, all employings to be equal to replacement or equivalent transformation to be formed, all drops within protection domain of the presently claimed invention.
Claims (4)
1. the three position compensation algorithms of a single axis fiber gyro in oil well deviational survey, it is characterized in that: the mounting structure adopting a gyroscope and an accelerometer, adopt and computing method is compensated to output valve, record its value with an accelerometer by motor transposition process; Adopt single axis fiber gyro and single-axis accelerometer composition gyrolevel, the mechanical connection of optical fibre gyro and accelerometer and indexing mechanism adopts slip ring, each measuring point three position calculation go out orientation and hole deviation, do not need back to zero, transposition is carried out according to a direction, the running being undertaken going round and beginning again by 0 °, 90 °, 180 °, 270 °, 360 °, during calculating, desired position point data only has three.
2. the three position compensation algorithms of single axis fiber gyro according to claim 1 in oil well deviational survey, it is characterized in that: the position rotaring motor of each point of three position measurements drives gyroaccelerometer to rotate the output valve of twice record, three positions, test two some motors and just rotate four back to zeros again, and loop test.
3. the three position compensation algorithms of single axis fiber gyro according to claim 2 in oil well deviational survey, it is characterized in that: the output valve of the three position gyro accelerometers recorded, employing carries out the position shifter error compensation of motor in transposition process to its value, the alignment error between gyro and accelerometer compensates and calculates, and eliminates the time drift of optical fibre gyro and accelerometer; In motor transposition process, utilize photoelectric coding to carry out step-by-step counting, utilize PWM technology accurately to control the angle of transposition, in calibration process, carry out the fine compensation of position shifter error angle and step-by-step counting error amount simultaneously; Fix error angle carries out initial alignment by photoelectric pulse signal, then is compensated by turntable demarcation.
4. the three position compensation algorithms of single axis fiber gyro according to claim 3 in oil well deviational survey, it is characterized in that: motor is compensated at rotation three position output valve position shifter error and alignment error, if gyrostatic compensation matrix is set to Ag, the compensation matrix of accelerometer is set to Aa, when the rotary motion trace of motor is 0-90-180, compensation matrix is:
When the rotary motion trace of motor is 180-270-0, compensation matrix is:
Wherein
epslfor fix error angle,
delta90for motor transposition is from the position shifter error angle of 0 ° to 90 °,
delta180for motor transposition is from the position shifter error angle of 0 ° to 180 °,
delta270for motor transposition is from the position shifter error angle of 0 ° to 270 °.
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Cited By (5)
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| CN105910626A (en) * | 2016-06-15 | 2016-08-31 | 重庆华渝电气集团有限公司 | North-seeking full-temperature calibration compensation method for flexible gyro inclinometer |
| CN105909238A (en) * | 2016-06-07 | 2016-08-31 | 北京科技大学 | Inertial measurement unit and single-axis servo successive inclinometry method |
| CN106917621A (en) * | 2017-01-25 | 2017-07-04 | 重庆大学 | Small-bore single gyro horizontal well spin orientation inclination measurement device and method |
| CN107313766A (en) * | 2017-05-31 | 2017-11-03 | 中国石油天然气股份有限公司 | Attitude data bearing calibration and device |
| CN111664868A (en) * | 2020-05-28 | 2020-09-15 | 北京航天时代光电科技有限公司 | Method for calibrating and compensating installation error of single-axis gyroscope |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105909238A (en) * | 2016-06-07 | 2016-08-31 | 北京科技大学 | Inertial measurement unit and single-axis servo successive inclinometry method |
| CN105909238B (en) * | 2016-06-07 | 2023-04-25 | 北京科技大学 | Inertia measurement unit and single-axis servo continuous inclinometry method |
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| CN106917621A (en) * | 2017-01-25 | 2017-07-04 | 重庆大学 | Small-bore single gyro horizontal well spin orientation inclination measurement device and method |
| CN106917621B (en) * | 2017-01-25 | 2020-02-07 | 重庆大学 | Small-aperture single-gyroscope horizontal well rotation directional inclination measurement device and method |
| CN107313766A (en) * | 2017-05-31 | 2017-11-03 | 中国石油天然气股份有限公司 | Attitude data bearing calibration and device |
| CN111664868A (en) * | 2020-05-28 | 2020-09-15 | 北京航天时代光电科技有限公司 | Method for calibrating and compensating installation error of single-axis gyroscope |
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