CN104453856B - Three position compensation algorithms of the single axis fiber gyro in oil well deviational survey - Google Patents
Three position compensation algorithms of the single axis fiber gyro in oil well deviational survey Download PDFInfo
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- CN104453856B CN104453856B CN201410352423.XA CN201410352423A CN104453856B CN 104453856 B CN104453856 B CN 104453856B CN 201410352423 A CN201410352423 A CN 201410352423A CN 104453856 B CN104453856 B CN 104453856B
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- fiber gyro
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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 three position compensation algorithms the invention discloses a kind of single axis fiber gyro in oil well deviational survey, it uses a gyroscope and a mounting structure for accelerometer, calculating method is compensated using to output valve, its value is recorded by motor indexing process with an accelerometer；Using single axis fiber gyro and single-axis accelerometer composition gyrolevel, optical fibre gyro uses slip ring with accelerometer with the mechanical connection of indexing mechanism, each measuring point calculates orientation and hole deviation with three positions, back to zero is not needed, indexing is carried out according to a direction, by 0 °, 90 °, 180 °, 270 °, 360 ° of operatings for being gone round and begun again, desired position point data only has three during calculating.The processing method of three positions of this single axis fiber gyro of the invention in oil well deviational survey can shorten the testing time, save instrument cost.The algorithm for gyrolevel the field such as oil well logging, mine exploration gradient, the determination in orientation and design, be worthy of popularization.
Description
Technical field
The three position compensation computational methods the present invention relates to uniaxial gradiograph of optical fiber gyro in oil well deviational survey, belong to oil
Logging technique application field.
Background technology
Gyrolevel is a kind of common instrument for trajectory measurements such as oil well, mine, tunnels.Oil well logging aspect,
With the increasingly depleted for easily exploiting petroleum resources, in the scattered oil reservoir of fritter and extended reach well, high angle hole, cluster well and horizontal well
Exploration and development in need that precision is higher, use upper relatively reliable well mark to test orientation device.The meaning of this class testing exists
It is that flooding pattern readjusts offer reliable basis in block is re-recognized；Oil reservoir is helped to excavate potentiality of remaining oil, to implement to increase
Product measure provides reference frame, such as corrects well location, implements remaining oil distribution, oil sand body border is implemented again, oil reservoir is re-recognized
Construction etc.；Ineffective investment is reduced, oil field development cost is reduced.
The instrument of existing oil well deviational survey mainly has fluxgate inclinometer, mechanical gyro and uniaxial gradiograph of optical fiber gyro
Deng.Traditional fluxgate inclinometer is easily influenceed by surrounding's ferromagnetic material environment of geology in itself, can only be made in non-magnetic environment
It is easy with itself.Traditional mechanical gyro shock resistance is poor, drift is big, is easy to damage.And single axis fiber gyro mechanical movable part
Part, is made up of electronic component, have the advantages that shock resistance it is high, not by magnetic interference, automatic seeking north, mechanical wear and tear, into
It is the mainstream technology means in current oil well deviational survey.
The core sensor of uniaxial gradiograph of optical fiber gyro is single axis fiber gyro element and acceleration of gravity element.Single shaft
Optic fiber gyroscope inclinometer determines orientation not against geomagnetic field, and this inclinometer determines that the principle of bore direction is the detection earth
Component of the spin velocity in instrument coordinates and boring direction, then by the complicated azimuth for being calculated drilling.The earth
The angular speed of rotation is very small, usually we have seen that clock when needle movement angular speed very little, but when needle movement
Angular speed but also fast twice of the angular speed than earth rotation, it is seen that to measure the angular speed of earth rotation, it is desirable to uniaxial optical fibers top
The precision of spiral shell can be height how.
The conventional mode one kind of domestic uniaxial gradiograph of optical fiber gyro is to turning two using the double single-axis accelerometers of twin shaft
Put and realize that well mark is tested, one kind is to realize that well mark is tested to turning four positions using the double single-axis accelerometers of single shaft.List both domestic and external
Axle optical fibre gyro maximum operating temperature is no more than 70 DEG C, and temperature is many in oil well reaches as high as 175 DEG C more than 125 DEG C, in order to full
Toe ring border temperature requirement, this is accomplished by increasing vacuum flask to single axis fiber gyro.The precision of single axis fiber gyro and sensitive simultaneously
Threshold value is required for the optical fiber of the fiber optic loop of coiling to reach certain length, cannot otherwise meet use requirement.Oil well logging is due to pipe
The limitation in footpath, instrument diameters have strict limitation.The double single-axis accelerometer uniaxial gradiograph of optical fiber gyro diameters of twin shaft reach Φ
More than 70, and the diameter of oil pipe is generally Φ 62, therefore the double single-axis accelerometer uniaxial gradiograph of optical fiber gyro of twin shaft can only be used
The track testing of oil pipe is not used in cased well testing, while twin shaft single axis fiber gyro needs double light sources, its caloric value
Also very big, the requirement to vacuum flask is stricter, and the working time under the hot environment of underground can also be restricted.The double single shafts of single shaft
Accelerometer uniaxial gradiograph of optical fiber gyro is all measured turning mode using four positions at home, respectively 0 °, 90 °, 180 °,
270 ° measure, and after the completion of being tested at 270 °, then are mutually fed back into 0 ° and carry out next test, single-spot testing with test direction of index
Time reaches more than 5 minutes, and not only inefficiency, also claims to the insulation under hot environment.
The content of the invention
It is an object of the invention to overcome prior art defect, there is provided a kind of single axis fiber gyro in oil well deviational survey three
Position compensation algorithm.
The present invention is achieved through the following technical solutions above-mentioned purpose：
The present invention is using single axis fiber gyro and single-axis accelerometer composition uniaxial gradiograph of optical fiber gyro, uniaxial optical fibers top
Spiral shell uses slip ring with single-axis accelerometer with the mechanical connection of indexing mechanism, and each measuring point only needs to three positions can be calculated
Orientation and hole deviation, it is not necessary to back to zero, can carry out indexing, i.e., by 0 °, 90 °, 180 °, 270 °, 360 ° according to a direction always
The operating for being gone round and begun again, and desired position point data only has three when calculating, so as to greatly save instrument cost and
Testing time, also mean that instrument can be in underground work for more time, its caloric value is also smaller than other two ways.Three positions turn
The basis of potential energy successful Application is its core algorithm, and uniaxial optical fibers are obtained by being compensated to position shifter error and alignment error
The output valve of gyro single-axis accelerometer.
In well logging, it is all to be mounted with a uniaxial optical fibers top that traditional point is surveyed in uniaxial gradiograph of optical fiber gyro
In the case of spiral shell and two single-axis accelerometers, four positions are rotated by position rotaring motor and records this four position single shaft light respectively
The output valve of fine gyro and single-axis accelerometer calculates the gradient and orientation of oil well.Three position measurement of the invention each point
Position rotaring motor only needs to drive single axis fiber gyro single-axis accelerometer to rotate three output valves of position of record twice, test two
Individual position rotaring motor just rotates four back to zeros again, is recycled test.Three position measurement single axis fiber gyro individual axis accelerations
Meter indexing is reduced twice, single-spot testing saving of time half compared to four positions (needing each back to zero position).
The output valve of the three position single axis fiber gyro single-axis accelerometers for measuring, is existed using position rotaring motor is carried out to its value
Position shifter error compensation during indexing, the alignment error between single axis fiber gyro and single-axis accelerometer compensate to calculate,
Eliminate the time drift of single axis fiber gyro and single-axis accelerometer.During position rotaring motor indexing, carried out using photoelectric coding
Step-by-step counting, using the angle of PWM technologies precise control indexing, while carrying out position shifter error angle and pulsimeter in calibration process
The accurate compensation of number error amount.Fix error angle is initially aligned by photoelectric pulse signal, then is carried out by turntable demarcation
Compensation.
The present invention uses a single axis fiber gyro and a mounting structure for single-axis accelerometer, enters using to output valve
Row compensation calculation method, records its value, if position rotaring motor exists with a single-axis accelerometer by position rotaring motor indexing process
It is the output valve of X-axis at 0 °, then the output valve of Y-axis is equivalent at 90 °, as long as to the suitable with regard to energy of their error compensation
Reach required precision.Compared with four positions, the design of structure and circuit is not only simplify, also a saving an individual axis acceleration
The cost of meter.
The process that the present invention is demarcated is more complicated than four position methods, and the time is relatively long.Be mainly reflected in position shifter error angle with
And in the determination repeatedly of fix error angle, but instrument production is only demarcated once, and follow-up using no longer demarcating, user is using process
It is middle to save many times.
As a result of technical scheme, three in oil well deviational survey of this single axis fiber gyro of the invention
The processing method put can shorten the testing time, save instrument cost.The algorithm be uniaxial gradiograph of optical fiber gyro oil well logging,
The field such as mine exploration gradient, the determination in orientation and design, be worthy of popularization.
Brief description of the drawings
Fig. 1 is position rotaring motor indexing schematic diagram.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.
Fig. 1 illustrates single axis fiber gyro of the invention position rotaring motor indexing schematic diagram in oil well deviational survey, and the present invention is
Using a single axis fiber gyro and the mounting structure of a single-axis accelerometer, calculating method is compensated using to output valve,
Its value is recorded by position rotaring motor indexing process with a single-axis accelerometer；Using single axis fiber gyro and individual axis acceleration
Meter composition uniaxial gradiograph of optical fiber gyro, single axis fiber gyro is used with the mechanical connection of indexing mechanism with single-axis accelerometer and slided
Ring, each measuring point calculates orientation and hole deviation with three positions, it is not necessary to back to zero, and indexing is carried out according to a direction, by 0 °,
90 °, 180 °, 270 °, 360 ° of operatings for being gone round and begun again, desired position point data only has three during calculating.
Position rotaring motor of three position measurements each points drives single axis fiber gyro single-axis accelerometer to rotate and records three twice
The output valve of individual position, two position rotaring motors of test just rotate four back to zeros again, and loop test.
The output valve of the three position single axis fiber gyro single-axis accelerometers for measuring, is existed using position rotaring motor is carried out to its value
Position shifter error compensation during indexing, the alignment error between single axis fiber gyro and single-axis accelerometer compensate to calculate,
Eliminate the time drift of single axis fiber gyro and single-axis accelerometer；During position rotaring motor indexing, carried out using photoelectric coding
Step-by-step counting, using the angle of PWM technologies precise control indexing, while carrying out position shifter error angle and pulsimeter in calibration process
The accurate compensation of number error amount；Fix error angle is initially aligned by photoelectric pulse signal, then is carried out by turntable demarcation
Compensation.
Position rotaring motor is compensated in three position output valve position shifter errors of rotation and alignment error, if single axis fiber gyro
Compensation matrix be set to Ag, the compensation matrix of single-axis accelerometer is set to Aa, when position rotaring motor rotary motion trace for 0-90-
When 180, compensation matrix is：
Wherein epsl is fix error angle, and delta90 is position shifter error angle of the position rotaring motor indexing from 0 ° to 90 °,
Delta180 is position shifter error angle of the position rotaring motor indexing from 0 ° to 180 °, and delta270 is position rotaring motor indexing from 0 ° to 270 °
Position shifter error angle.
The design structure of the single single axis fiber gyro of present invention use, only axis accelerometer, the quick of single axis fiber gyro
Sense axle is arranged on X-axis, and the sensitive axes of single-axis accelerometer are also mounted in X-axis, and the result to exporting uses above formula
It is compensated.
Certainly, it is more than concrete application example of the invention, the present invention also has other implementation methods, all using equivalent
The technical scheme that replacement or equivalent transformation are formed, all falls within protection domain of the presently claimed invention.
Claims (2)
1. three position compensation algorithms of a kind of single axis fiber gyro in oil well deviational survey, it is characterised in that：Using a single shaft light
Fine gyro and a mounting structure for single-axis accelerometer, calculating method is compensated using to output valve, is accelerated with a single shaft
Degree meter records its value by position rotaring motor indexing process；Using single axis fiber gyro and single-axis accelerometer composition uniaxial optical fibers
Gyrolevel, single axis fiber gyro uses slip ring with single-axis accelerometer with the mechanical connection of indexing mechanism, each measuring point
Calculate orientation and hole deviation with three positions, it is not necessary to back to zero, indexing carried out according to a direction, by 0 °, 90 °, 180 °, 270 °,
360 ° of operatings for being gone round and begun again, desired position point data only has three during calculating；
The output valve of the three position single axis fiber gyro single-axis accelerometers for measuring, position rotaring motor is carried out in indexing using to its value
During position shifter error compensation, the alignment error compensation between single axis fiber gyro and single-axis accelerometer calculate, eliminate
The time drift of single axis fiber gyro and single-axis accelerometer；During position rotaring motor indexing, horizontal pulse is entered using photoelectric coding
Count, using the angle of PWM technologies precise control indexing, while position shifter error angle is carried out in calibration process being missed with step-by-step counting
The accurate compensation of difference；Fix error angle is initially aligned by photoelectric pulse signal, then is compensated by turntable demarcation；
Position rotaring motor is compensated in three position output valve position shifter errors of rotation and alignment error, if the benefit of single axis fiber gyro
Repay matrix and be set to Ag, the compensation matrix of single-axis accelerometer is set to Aa, when the rotary motion trace of position rotaring motor is 0-90-180,
Compensation matrix is：
When the rotary motion trace of position rotaring motor is 180-270-0, compensation matrix is：
WhereinepslIt is fix error angle,delta90Position shifter error angle for position rotaring motor indexing from 0 ° to 90 °,delta180
Position shifter error angle for position rotaring motor indexing from 0 ° to 180 °,delta270Indexing for position rotaring motor indexing from 0 ° to 270 ° is by mistake
Declinate.
2. three position compensation algorithms of the single axis fiber gyro according to claim 1 in oil well deviational survey, it is characterised in that：
Position rotaring motor of three position measurements each points drives single axis fiber gyro single-axis accelerometer to rotate and records three positions twice
Output valve, two position rotaring motors of test just rotate four back to zeros again, and loop test.
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| CN105909238B (en) * | 2016-06-07 | 2023-04-25 | 北京科技大学 | Inertia measurement unit and single-axis servo continuous inclinometry method |
| CN105910626B (en) * | 2016-06-15 | 2018-09-21 | 重庆华渝电气集团有限公司 | Flexible gyroscope inclinometer seeks northern complete warm calibration compensation 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 |
| CN107313766B (en) * | 2017-05-31 | 2021-04-30 | 中国石油天然气股份有限公司 | Attitude data correction method 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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