CN105587310A - Calibration method for internal electromagnetic interference error of gyro inclinometer - Google Patents

Abstract

The invention discloses a calibration method for the internal electromagnetic interference error of a gyro inclinometer. The method comprises the following steps that 1, the gyro inclinometer is vertically mounted on a double-shaft rotary table, and is powered on to work so that an internal indexing mechanism can be controlled at the electrical 0-degree position of an angle position sensor; 2, the angle of a spindle of the rotary table is adjusted, so that the gyro axis X (or the gyro axis Y) in the gyro inclinometer is made to point to the due west or due east direction; 3, by means of control of internal software of the gyro inclinometer, the internal indexing mechanism of the gyro inclinometer is made to carry out indexing at the fixed angle of 2phi/n within 360 degrees in the Z-axis direction, and a set of stable gyro voltage average values of each position is collected; 4, the voltage average values of each position are multiplied by the scale factor, the constant gyro value is subtracted from the result, subtracting is carried out on the result and standard gyro output in the circumference, and a set of circumference internal electromagnetic interference error values is obtained; and 5, the error values are subjected to fitting to obtain a curve, a polynomial formula is extracted, and compensation on the circumference internal electromagnetic interference error can be achieved through the polynomial formula.

Description

A kind of scaling method of gyrolevel internal electromagnetic mushing error

Technical field

The invention belongs to oil well logging field, relate to a kind of demarcation side of gyrolevel internal electromagnetic mushing error of loggerMethod.

Background technology

In current oil, mineral exploration and exploitation process, generally need directional well logging instrument to complete oil well trajectory measurement, drill bit side direction is openedWindow orientation or auxiliary Other Instruments are carried out the work such as parameter location. The directional well logging instrument of domestic extensive employing is at present mainly magnetic fluxDoor inclinometer, this kind of instrument adopts the orthogonal fluxgate sensor of three axles and the orthogonal accelerometer of three axles to form inertia measurement groupClose, measure respectively magnetic-field vector of the earth and terrestrial gravitation vector, thereby determine the spatial attitude of instrument in oil well, mine. ShouldKind of apparatus structure is simple, measuring method directly, there is good environmental suitability, but only can be applied to naked without magnetic anomalyIn eye well, for carrying out the cased well of oil extraction operation and the open hole well of magnetic anomaly can not be applied completely.

For the problems referred to above, start in the world to adopt gyrolevel to carry out the measurement of oil well, mine. Gyrolevel is by topSpiral shell and accelerometer constitute IMU, realize the measurement to earth rotation angular speed and terrestrial gravitation acceleration, logicalCross accurate inertia measurement algorithmic derivation and go out the spatial attitude of instrument in oil well, mine. Gyrolevel is according to inertial sensorThe difference of combination and calculation method, two kinds of point single multiple shot tool and continuous inclinometers. These two kinds of instruments have generally all designedInner indexing mechanism, single multiple shot tool has been realized automatically north seeking measurement by inner indexing mechanism, and continuous inclinometer turns by insidePosition winding machine automatically north seeking measure and real-time continuous measurement. The design of inner indexing mechanism has realized gyrolevel autonomous headingThe target of deviational survey, but also introduced the impact on gyrosensor output valve of electromagnetic interference that inner transposition changes simultaneously, form topThe measure error of spiral shell. If this error does not fully compensate, the certainty of measurement of gyrolevel will directly be affected.

Summary of the invention

The invention provides a kind of scaling method of gyrolevel internal electromagnetic mushing error, can be better by employing the methodMeasure the diverse location electromagnetic interference of inner transposition to the value that affects of gyro to measure. Mend by setting up Mathematical ModelingRepay, can significantly improve the certainty of measurement of gyrolevel.

Technical scheme of the present invention is: the invention provides a kind of scaling method of gyrolevel internal electromagnetic mushing error, itsBe characterised in that:

Gyrolevel is vertically arranged on to calibration and crosses on the double axle table of East and West direction benchmark, and by this double axle table level-off;For gyrolevel is switched on and send startup command, make gyrolevel in normal operating conditions subsequently, make inner indexing mechanismBe operated in electric 0 ° of position of angular position pick up;

Adjust the sensing at turntable main shaft of gyro X-axis or gyro Y-axis, while making the pitch axis rotation of double axle table, gyro XThe angular speed variable quantity of axle or gyro Y-axis is only earth rotation component, at this moment illustrate gyro X-axis or gyro Y-axis point to due south orDirect north; Subsequently, control turntable main shaft and rotate 90 °, make gyro X-axis or the positive west of gyro Y-axis sensing in gyrolevelOr due east direction;

By instrument internal software control, make transposition stage body on an inner indexing mechanism Z that rotates under the driving of torque motorDirection of principal axis carries out the transposition of fixed angle 2 π/n in 360 °, and n represents the number of the sampled point arranging in circumference, sampled pointHow much depend on the using method of instrument and the requirement of compensation precision; After each position gyro signal stabilization, gather gyro outputOne group of magnitude of voltage, obtains U after averaging_xnOr U_yn；

Here, the gyro constant multiplier k in gyrolevel_gxAnd k_gy, and gyroscope constant value ε_x0And ε_y0, by routineScaling method obtain; To adopt following formula to obtain electromagnetic interference error value E in one group of circumference herein,_xnAnd E_yn；

ω'_xn＝k_gx*U_xn-ε_x0(1)

ω'_yn＝k_gy*U_yn-ε_y0(2)

E_xn＝ω'_xn-ω_xn(3)

E_yn＝ω'_yn-ω_yn(4)

In formula (1), (2), (3), (4), ω '_xn、ω'_ynFor gyro actual corners speed output valve, k_gx、k_gyFor topThe constant multiplier of spiral shell, U_xn、U_ynFor gyro is at the sampled voltage mean value of a certain circumferential position, ε_x0、ε_y0For gyroNormal value, ω_xn、ω_ynFor the gyro output valve of circumference internal standard, E_xn、E_ynFor electromagnetic interference error amount in gyro circumference.

By position, multiple angle and corresponding error value E_xnOr E_ynTabulation, and matched curve, extract a repeatedly formula; By thisRepeatedly a formula can calculate electromagnetic interference compensation of error value in circumference.

Advantage of the present invention is: adopt the present invention simple to operation, can effectively obtain the interference of inclinometer internal electromagnetic gyro is believedNumber affect value, by after setting up Mathematical Modeling and compensating, can significantly improve the certainty of measurement of inclinometer; Meanwhile, shouldScaling method has reduced inclinometer inside subdues design and the matching requirements of electromagnetic interference, has improved the property in inclinometer productionCan indicator consilience.

Brief description of the drawings

Fig. 1 is gyrolevel turntable mounting structure schematic diagram in the present invention;

Fig. 2 is that the gyroaxis of multiple inner index position of a kind of embodiment in the present invention points to schematic diagram;

Fig. 3 is the interior electromagnetic interference error matched curve figure of the gyro Y-axis circumference of a kind of embodiment in the present invention.

Detailed description of the invention

Below in conjunction with accompanying drawing and wherein a kind of embodiment the present invention is described in further detail.

Step 1) gyrolevel 1 is vertically arranged on to calibration crosses on the double axle table 8 of East and West direction benchmark, and by this twin shaftTurntable 8 level-ofves; Switch on and send startup command for gyrolevel 1 subsequently, making to comprise that X is to acceleration in gyrolevel 1Degree meter 4, Y-direction accelerometer 5 and gyro 6 in normal operating conditions, make inner indexing mechanism 9 at interior each building blockBe operated in electric 0 ° of position of angular position pick up 2;

Step 2) rotate the main shaft of double axle table 8, to adjust the sensing of gyro Y-axis at turntable main shaft, make double axle table 8Pitch axis rotate time, the angular speed variable quantity of gyro Y-axis be only earth rotation component, at this moment through judge gyro Y-axis export,Confirm gyro Y-axis point to Due South to; Then, the main shaft of controlling double axle table 8 rotates 90 °, makes in gyrolevel 1Gyro Y-axis point to positive west to;

Step 3) by instrument internal software control, make transposition stage body 3 the driving at torque motor 7 of inner indexing mechanism 9A Z-direction that rotates under moving is carried out the transposition of fixed angle 2 π/n in 360 °; Because doing comparatively comprehensively, demarcates the present embodiment,So selecting transposition sampling point position to count n is 8; Fig. 2 is for to look from depression angle, and gyro Y-axis and gyro X-axis turn in inside8 diverse locations that rotate in the mechanism 9 of position; After each position gyro signal stabilization, gather one group of magnitude of voltage of gyro output,After averaging, obtain U_yn；

Step 4) adopt following formula to obtain electromagnetic interference error value E in one group of circumference_yn; See the following form 1;

ω'_yn＝k_gy*U_yn-ε_y0

E_yn＝ω'_yn-ω_yn

In formula, ω '_ynFor gyro actual corners speed output valve, k_gyFor the constant multiplier of gyro, U_ynFor gyro is at a certain circumferenceThe sampled voltage mean value of position, ε_y0For the normal value of gyro, ω_ynFor the gyro output valve of circumference internal standard, E_ynFor gyroElectromagnetic interference error amount in circumference.

Step 5) by position, multiple angle and corresponding error value E_ynTabulation 1, and matched curve, be shown in Fig. 3, extracts a repeatedly public affairsFormula; Can calculate electromagnetic interference compensation of error value in circumference by this multinomial formula.

Table 1,8 position sampling values of gyro Y-axis circumference and electromagnetic interference error amount

Position, angle	One	Two	Three	Four	Five	Six	Seven	Eight
									Corner	0°	45°	90°	135°	180°	225°	270°	315°
ωyn	0	8.79	12.43	8.79	0	-8.79	-12.43	-8.79
									ω'yn	-0.2	8.28	12.21	8.89	0.45	-8.23	-12.06	-8.69
Eyn	-0.2	-0.51	-0.22	0.1	0.45	0.56	0.37	0.1

In upper table, calculate gyro Y-axis standard output value ω_ynTime, the latitude value of employing is 34.215 °; Earth rotation angle speedRate is 15.04 °/h.

By electromagnetic interference error curve in Fig. 3 matching gyro Y-axis circumference, extract 5 order polynomials as follows:

y＝-4.34E-12x⁵+3.03E-09x⁴-1.34E-06x³+2.76E-04x²-1.65E-02x-2.02E-01

Wherein, y is continuous electromagnetic interference error amount in gyro circumference, and x represents that in circumference, the relative initial position of gyro Y-axis is clockwiseThe angle value turning over.

Claims (1)

1. a scaling method for gyrolevel internal electromagnetic mushing error, is characterized in that:

Gyrolevel is vertically arranged on to calibration and crosses on the double axle table of East and West direction benchmark, and by this double axle table level-off;For gyrolevel is switched on and send startup command, make gyrolevel in normal operating conditions subsequently, make inner indexing mechanismBe operated in electric 0 ° of position of angular position pick up;

Adjust the sensing at turntable main shaft of gyro X-axis or gyro Y-axis, while making the pitch axis rotation of double axle table, gyro XThe angular speed variable quantity of axle or gyro Y-axis is only earth rotation component, at this moment illustrate gyro X-axis or gyro Y-axis point to due south orDirect north;

Control turntable main shaft and rotate 90 °, make in gyrolevel gyro X-axis or gyro Y-axis point to positive west or due east direction;

Transposition stage body on an inner indexing mechanism Z-direction that rotates under the driving of torque motor is carried out fixed angle in 360 °The transposition of 2 π/n; The one group of magnitude of voltage that gathers gyro output after each position gyro signal stabilization, obtains after averagingU_xnOr U_yn；

Here, the gyro constant multiplier k in gyrolevel_gxAnd k_gy, and gyroscope constant value ε_x0And ε_y0, by routineScaling method obtain; To adopt following formula to obtain electromagnetic interference error value E in one group of circumference herein,_xnAnd E_yn；

ω'_xn＝k_gx*U_xn-ε_x0

ω'_yn＝k_gy*U_yn-ε_y0

E_xn＝ω'_xn-ω_xn

E_yn＝ω'_yn-ω_yn

In formula, ω '_xn、ω'_ynFor gyro actual corners speed output valve, k_gx、k_gyFor the constant multiplier of gyro, U_xn、U_ynFor gyro is at the sampled voltage mean value of a certain circumferential position, ε_x0、ε_y0For the normal value of gyro, ω_xn、ω_ynFor marking in circumferenceAccurate gyro output valve, E_xn、E_ynFor electromagnetic interference error amount in gyro circumference,

By position, multiple angle and corresponding error value E_xnOr E_ynTabulation, and matched curve, extract a repeatedly formula; By thisRepeatedly a formula can calculate electromagnetic interference compensation of error value in circumference.