CN107313766B - Attitude data correction method and device - Google Patents

Attitude data correction method and device Download PDF

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CN107313766B
CN107313766B CN201710399626.8A CN201710399626A CN107313766B CN 107313766 B CN107313766 B CN 107313766B CN 201710399626 A CN201710399626 A CN 201710399626A CN 107313766 B CN107313766 B CN 107313766B
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attitude data
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CN107313766A (en
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程为彬
甘源滢
刘峰
高理
高怡
陈晨
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Petrochina Co Ltd
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    • E21—EARTH OR ROCK DRILLING; MINING
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Abstract

The embodiment of the application discloses a method and a device for correcting attitude data. The method comprises the following steps: providing a set of correction data; wherein the set of correction data comprises at least one correction data; each correction data corresponds to a well deviation angle interval; determining a designated well deviation angle corresponding to the designated attitude data; acquiring correction data corresponding to the specified well deviation angle from the correction data set to serve as specified correction data; wherein the specified inclination angle is subordinate to an inclination angle interval corresponding to the specified correction data in the correction data set; and correcting the specified attitude data by using the specified correction data.

Description

Attitude data correction method and device
Technical Field
The application relates to the technical field of precision measuring instruments, in particular to an attitude data correction method and device.
Background
The accurate attitude measurement is the basis of petroleum exploration and navigation, guidance and control of aircrafts, and has a very important position in the fields of petroleum exploration and national defense military which strive for more and more fierce at home and abroad. Generally, various system errors exist in attitude data obtained through measurement, so that correction is needed to improve measurement accuracy.
In the prior art, the measured attitude data is usually corrected by adopting a uniaxial maximum value method. Specifically, taking 3 axially-mounted, mutually orthogonal accelerometers to perform the borehole trajectory measurement as an example, the correction data is typically calculated with the accelerometer of one axis at the maximum output value and the accelerometers of the other two axes at the minimum output value. In this way, the measured attitude data can be corrected using the correction data.
In the process of implementing the present application, the inventor finds that at least the following problems exist in the prior art:
in the above-described prior art, the corrected attitude data generally has a small error in the axis (i.e., the axis having the largest output value in the calculation of the correction data), and has a large error in the other axes. Therefore, the correction method in the prior art has low correction precision, which results in a large error of the corrected attitude data.
Disclosure of Invention
The embodiment of the application aims to provide a method and a device for correcting attitude data, so that the correction precision of the attitude data is improved, and the error of the corrected attitude data is reduced.
In order to achieve the above object, an embodiment of the present application provides an attitude data correction method, including: providing a set of correction data; wherein the set of correction data comprises at least one correction data; each correction data corresponds to a well deviation angle interval; determining a designated well deviation angle corresponding to the designated attitude data; acquiring correction data corresponding to the specified well deviation angle from the correction data set to serve as specified correction data; wherein the specified inclination angle is subordinate to an inclination angle interval corresponding to the specified correction data in the correction data set; and correcting the specified attitude data by using the specified correction data.
In order to achieve the above object, an embodiment of the present application provides an attitude data correction apparatus, including: the determining unit is used for determining a specified inclination angle corresponding to the specified attitude data; the acquisition unit is used for acquiring correction data corresponding to the specified well deviation angle from the correction data set to serve as specified correction data; wherein the specified inclination angle is subordinate to an inclination angle interval corresponding to the specified correction data in the correction data set; and a correction unit configured to correct the specified attitude data using the specified correction data.
According to the technical scheme provided by the embodiment of the application, the embodiment of the application can determine the designated inclination angle corresponding to the designated attitude data; the correction data corresponding to the specified inclination angle can be acquired from the correction data set and used as the specified correction data; the specified attitude data may be corrected using the specified correction data. Compared with the prior art, the specified correction data can be obtained by calculating the measurement attitude data and the theoretical attitude data corresponding to at least 3 tool face angles; also, the at least 3 toolface angles may have an appropriate angular interval so that the specified correction data may have a balanced correction accuracy. Therefore, in the present embodiment, after the specified attitude data is corrected using the specified correction data, the error of the corrected specified attitude data can be reduced, so that the correction accuracy can be improved.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without any creative effort.
FIG. 1 is a flowchart illustrating a method for correcting attitude data according to an embodiment of the present disclosure;
FIG. 2 is a flowchart illustrating a calibration data calculation method according to an embodiment of the present disclosure;
FIG. 3a is a schematic diagram of the error distribution after correcting the skew angle using the prior art;
FIG. 3b is a schematic diagram of the error distribution after the tool face angle is corrected using the prior art;
FIG. 4a is a schematic diagram of an error distribution after correcting a skew angle according to an embodiment of the present disclosure;
FIG. 4b is a schematic diagram of an error distribution after a tool face angle is corrected according to an embodiment of the present disclosure;
fig. 5 is a functional structure diagram of an attitude data correction apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The embodiment of the application provides an attitude data correction method. Please refer to fig. 1. The attitude data correction method may include the following steps.
Step S11: and determining a designated well deviation angle corresponding to the designated attitude data.
In this embodiment, the specified posture data may be posture data obtained by measurement.
In this embodiment, the angle of inclination is generally the angle between the central axis of a point in the well and the earth's vertical, and is typically in the range of 0 ° to 180 °, and may be used to indicate the inclination of the borehole trajectory. The specified well offset angle may be a well offset angle corresponding to the specified attitude data.
In the present embodiment, a downhole navigation drilling tool instrument coordinate system is established in the northwest ONWS geographical coordinate system, i.e., an xyz coordinate system is established, taking as an example the implementation of drilling trajectory measurements with 3 axially mounted, mutually orthogonal accelerometers. Projecting the gravity acceleration G of the earth to the coordinate system of the instrument to obtain theoretical attitude data G shown as the following formula (1)1。
Figure BDA0001309406810000031
In the above formula (1), gxAs theoretical attitude data G1Component in the X direction, g, in the OXYZ coordinate systemyAs theoretical attitude data G1Component in the Y direction, g, in the OXYZ coordinate systemzAs theoretical attitude data G1A component in the Z direction in the xyz coordinate system; i is theoretical attitude data G1Corresponding well inclination angle, T is theoretical attitude data G1Corresponding toolface angle. The tool face angle may be an angle of a tool face after the whipstock tool is run downhole.
Thus, based on the contents of equation (1) above, the specified borehole angle can be generally calculated by equation (2) below.
Figure BDA0001309406810000032
In the above formula (2), I1For specifying attitude data B1The corresponding well deviation angle is the designated well deviation angle; bzFor specifying attitude data B1A component in the Z direction in the xyz coordinate system; g is the earth gravitational acceleration.
Step S12: and acquiring correction data corresponding to the specified well deviation angle from the correction data set as specified correction data.
In this embodiment, the correction data set may include at least one correction data, and each correction data may correspond to a corresponding deskew interval.
For example, the correction data set may include 3 sets of correction data CM _1, CM _2, and CM _ 3. The inclination angle interval corresponding to the correction data CM _1 can be [0-60 degrees ], the inclination angle interval corresponding to the correction data CM _2 can be [ 60-120 degrees ], and the inclination angle interval corresponding to the correction data CM _3 can be [ 120-180 degrees ].
In this embodiment, the specified inclination angle may be matched with an inclination angle interval corresponding to each correction data in the correction data set; the correction data corresponding to the matched interval of the well deviation angle can be used as the designated correction data. Thus, the specified offset angle may be subordinate to the offset angle interval for which the specified correction data corresponds to the set of correction data.
For example, the specified well angle may be 90 °. The correction data set may comprise 3 groups of correction data CM _1, CM _2 and CM _ 3. The inclination angle interval corresponding to the correction data CM _1 can be [0-60 degrees ], [ 60-120 degrees ], [ 120-180 degrees ] corresponding to the correction data CM _2, and the inclination angle interval corresponding to the correction data CM _ 3. Then, the specified offset angle of 90 ° may be matched with the offset angle interval corresponding to each correction data in the correction data set, resulting in a matched offset angle interval [60 ° -120 °; the calibration data CM _2 corresponding to the matching skew angle interval [60 deg. -120 deg. ] may be used as the specified calibration data.
Step S13: and correcting the specified attitude data by using the specified correction data.
In the present embodiment, the formula D ═ C may be given1×B1And correcting the specified attitude data. Wherein D is the corrected specified attitude data; c1Correcting data for the designation; b is1And the specified attitude data is obtained.
In particular, the corrected specified attitude data may be represented as a matrix
Figure BDA0001309406810000041
Wherein d isxComponent in X direction in the OXYZ coordinate system for the corrected specified attitude data, dyComponent in Y direction in the OXYZ coordinate system for the corrected specified attitude data, dzAnd the component of the corrected specified attitude data in the Z direction under the XYZ coordinate system.
The specified correction data may be represented as a matrix
Figure BDA0001309406810000042
The specified pose data can be represented as a matrix
Figure BDA0001309406810000043
Wherein, bxTo specify the component of the attitude data in the X direction in the XYZ coordinate system, byTo specify the component of the attitude data in the Y direction in the XYZ coordinate system, bzThe Z-direction component of the pose data in the xyz coordinate system is specified.
Then, formula D ═ C1×B1Can be expressed as a formula
Figure BDA0001309406810000044
In one embodiment, please refer to fig. 2. The correction data in the correction data set may be obtained by the following steps.
Step S21: the target borehole angle is divided into at least one borehole angle interval.
In this embodiment, the target well inclination angle may be an angle between a central axis of a point in the well and a plumb line of the earth. For example, the target well angle may be 180 °.
In this embodiment, the target borehole angle may be divided into at least one borehole angle interval according to actual needs. For example, the target skew angle may be divided into 2, 3, or 5 skew angle intervals depending on the accuracy of the corrected pose data. Specifically, for example, the size of the target kick point may be 180 °, then the target kick point may be divided into 5 kick point intervals, i.e., into [0 ° -40 °), [40 ° -60 °), [60 ° -90 °), [90 ° -150 °), and [150 ° -180 °).
Step S22: for each interval, a representative interval angle for the interval is determined, and at least 3 toolface angles for the representative interval angle are determined.
In this embodiment, for each interval, a single interval may be selected from the interval as the representative interval of the interval. Specifically, a representative inclination angle may be arbitrarily selected from the inclination angle interval. Of course, a representative inclination angle may be selected from the inclination angle interval based on experience or algorithm according to the requirement of measurement accuracy. For example, for a well deviation angle interval [0 ° -40 °), 5 ° may be chosen as the representative well deviation angle.
In this embodiment, the expression may be given by
Figure BDA0001309406810000051
Determining at least 3 corresponding to the representative borehole inclination angleA tool face angle; wherein T is a tool face angle; k is at least 3 of 0, 1, 2 and 3;
Figure BDA0001309406810000052
in this way, for the representative inclination angle, by selecting a special toolface angle, specifically, by selecting at least 3 toolface angles having an appropriate angle interval, the correction data calculated by these special toolface angles can be made to have a balanced error amount, so that the calculated correction data has a balanced correction accuracy, and further, after correcting certain attitude data using the calculated correction data, the error of the corrected attitude data can be reduced.
For example, for a well deviation angle interval [0 ° -40 °), 5 ° may be chosen as the representative well deviation angle. Thus, k values are taken as 0, 1 and 2, respectively. Then, 3 toolface angles are available, specifically 45 °, 135 °, and 225 °, respectively. Of course, it is also possible to take the k values 1, 2 and 3, respectively, so that 3 toolface angles can be obtained, specifically 130 °, 230 ° and 300 °, respectively.
Step S23: for each tool face angle in the at least one tool face angle, measuring attitude data corresponding to the tool face angle as measured attitude data; and calculating the attitude data corresponding to the tool face angle as theoretical attitude data.
In the present embodiment, taking 3 axially-mounted and mutually orthogonal accelerometers to realize drilling trajectory measurement as an example, a downhole navigation drilling tool instrument coordinate system, that is, an xyz coordinate system, is established in the northwest ONWS geographical coordinate system. Thus, for each of the at least one toolface angle, the output of the accelerometer located in the X-axis may be obtained as the measured pose data corresponding to that toolface angle, the component in the X-direction in the xyz coordinate system; the output value of the accelerometer positioned on the Y axis can be acquired as the measurement attitude data corresponding to the tool face angle, and the component of the measurement attitude data in the Y direction under the XYZ coordinate system; the output of the accelerometer in the Z-axis can be acquired as the measured attitude data corresponding to the toolface angle, the component in the Z-direction in the xyz coordinate system.
In this embodiment, for each of the at least one toolface angle, the theoretical pose data corresponding to the toolface angle may be calculated by the aforementioned formula (1). Wherein, in the formula (1), gxCan be the theoretical attitude data G corresponding to the tool face angle1Component in the X direction under the xyz coordinate system; gyCan be the theoretical attitude data G corresponding to the tool face angle1The component in the Y direction in the xyz coordinate system; gzCan be the theoretical attitude data G corresponding to the tool face angle1Component in the Z direction in the xyz coordinate system; i may be the representative borehole angle and T may be the toolface angle.
For example, the representative borehole angle may be 5 °. The at least one toolface angle may be 45 °, 135 °, and 225 °, respectively.
For each of the at least one tool face angle, pose data corresponding to the tool face angle may be measured as one measured pose data. Thus, a matrix of measured attitude data can be formed
Figure BDA0001309406810000061
Wherein 0.1453, 0.1584, 2.8106 may be a component in the X direction, a component in the Y direction, and a component in the Z direction of the measurement attitude data corresponding to a tool face angle of 45 ° in the xyz coordinate system, respectively, in the case where the representative skew angle is 5 °; 0.1493, -0.1589, 2.8098 may be a component in the X direction, a component in the Y direction, and a component in the Z direction in the xyz coordinate system of the measured attitude data corresponding to the tool face angle of 135 ° in the case where the representative skew angle is 5 °, respectively; -0.1924, -0.1868, 2.8081 may be a component in the X direction, a component in the Y direction, and a component in the Z direction of the measured pose data corresponding to a tool face angle of 225 ° in the xyz coordinate system, respectively, representing a skew angle of 5 °.
For each of the at least one toolface angle, pose data corresponding to the toolface angle may be calculated as theoretical pose data. Thus, a matrix of theoretical attitude data can be formed
Figure BDA0001309406810000062
Wherein 0.6163, -0.6163, 9.9619 can be a component in the X direction, a component in the Y direction and a component in the Z direction of theoretical attitude data corresponding to a tool face angle of 45 ° in an xyz coordinate system under the condition that the representative skew angle is 5 °, respectively; 0.6163, 0.6163, 9.9619 may be a component in the X direction, a component in the Y direction, and a component in the Z direction in the xyz coordinate system of theoretical attitude data corresponding to a tool face angle of 135 ° in a case where the representative skew angle is 5 °, respectively; -0.6163, 0.6163, 9.9619 may be a component in the X direction, a component in the Y direction, and a component in the Z direction of theoretical attitude data corresponding to a tool face angle of 225 ° in the xyz coordinate system, respectively, in a case where the representative skew angle is 5 °.
Step S24: and calculating correction data corresponding to the oblique angle interval based on the measured attitude data and the theoretical attitude data.
In this embodiment, based on the measured attitude data and the theoretical attitude data, it is possible to pass through formula C2＝B2×G2 -1And calculating correction data corresponding to the inclination angle interval. Wherein, C2The correction data corresponding to the inclination angle interval can be specifically a correction matrix; b is2The measurement attitude matrix may be a measurement attitude matrix, and specifically may include measurement attitude data corresponding to each tool face angle in the at least one tool face angle; g2The theoretical attitude matrix may specifically include theoretical attitude data corresponding to each tool face angle in the at least one tool face angle.
For example, continuing with the above example, the representative kick angle may be 5 °, and the corresponding kick angle interval for a representative kick angle of 5 ° may be [0 ° -40 °). The at least one toolface angle may be 45 °, 135 °, and 225 °, respectively. The measurement attitude matrix
Figure BDA0001309406810000071
The theoretical attitude data matrix
Figure BDA0001309406810000072
Then, by formula C2＝B2×G2 -1And calculating to obtain correction data corresponding to a well deviation angle interval of 0-40 DEG
Figure BDA0001309406810000073
In this embodiment, a specified inclination angle corresponding to specified attitude data may be determined; the correction data corresponding to the specified inclination angle can be acquired from the correction data set and used as the specified correction data; the specified attitude data may be corrected using the specified correction data. Compared with the prior art, the specified correction data can be obtained by calculating the measured attitude data and the theoretical attitude data corresponding to at least one tool face angle; also, the at least one toolface angle may have an appropriate angular interval such that the specified correction data may have a balanced correction accuracy. Therefore, in the present embodiment, after the specified attitude data is corrected using the specified correction data, the error of the corrected specified attitude data can be reduced, so that the correction accuracy can be improved.
According to the method, the correction precision of the original measurement data can be improved at any attitude position, so that high-precision attitude data can be obtained, and the method can be widely applied to measurement of attitude data of carriers such as deep-sea exploration of petroleum, robots, missiles, airplanes, naval vessels, underwater vehicles and the like.
Fig. 3a is a schematic diagram of the error distribution after correcting the skew angle by using the prior art when the skew angle is 5 °. The abscissa is the toolface angle and the ordinate is the correction error for the well angle. As can be seen from FIG. 3a, when the skew angle is 5 degrees, the error range after correcting the skew angle by the prior art is-0.222 degrees to +0.039 degrees.
FIG. 3b is a schematic diagram of the error distribution after a prior art correction of the toolface angle for a 5 ° well angle. The abscissa is the toolface angle and the ordinate is the correction error for the toolface angle. As can be seen from FIG. 3b, when the skew angle is 5, the error range after correcting the tool face angle by the prior art is-1.524 to + 1.68.
Fig. 4a is a schematic diagram of error distribution after correcting the skew angle by using the embodiment when the skew angle is 5 °. The abscissa is the toolface angle and the ordinate is the correction error for the well angle. As can be seen from FIG. 4a, when the inclination angle is 5 °, the error range after correcting the inclination angle by using the present embodiment is-0.01 ° +0.007 °.
FIG. 4b is a schematic diagram of the error distribution after the tool face angle is corrected by the present embodiment when the well angle is 5 °. The abscissa is the toolface angle and the ordinate is the correction error for the toolface angle. As can be seen from FIG. 4b, when the skew angle is 5 °, the error range after correcting the tool face angle using this embodiment is-0.168 ° +0.066 °.
Comparing fig. 3a and 4a, and fig. 3b and 4b, the present embodiment can effectively eliminate the periodic system error; the correction precision of the well bevel angle can be improved by 22.2-5.7 times, and the correction precision of the tool face angle can be improved by 9.1-25.5 times.
Please refer to fig. 5. The embodiment of the application also provides an attitude data correction device. The attitude data correction device may include a determination unit 51, an acquisition unit 52, and a correction unit 53. Wherein the content of the first and second substances,
a determining unit 51, configured to determine a specified inclination angle corresponding to the specified attitude data;
an obtaining unit 52, configured to obtain, from the correction data set, correction data corresponding to the specified skew angle as specified correction data; wherein the specified inclination angle is subordinate to an inclination angle interval corresponding to the specified correction data in the correction data set;
a correcting unit 53 for correcting the specified attitude data using the specified correction data.
In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate a dedicated integrated circuit chip 2. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Language Description Language), traffic, pl (core unified Programming Language), HDCal, JHDL (Java Hardware Description Language), langue, Lola, HDL, laspam, hardbyscript Description Language (vhr Description Language), and the like, which are currently used by Hardware compiler-software (Hardware Description Language-software). It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
From the above description of the embodiments, it is clear to those skilled in the art that the present application can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the present application may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments of the present application.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The application is operational with numerous general purpose or special purpose computing system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet-type devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.
The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
While the present application has been described with examples, those of ordinary skill in the art will appreciate that there are numerous variations and permutations of the present application without departing from the spirit of the application, and it is intended that the appended claims encompass such variations and permutations without departing from the spirit of the application.

Claims (8)

1. An attitude data correction method is characterized in that a correction data set is provided; wherein the set of correction data comprises at least one correction data; each correction data corresponds to a well deviation angle interval; the method comprises the following steps:
determining a designated well deviation angle corresponding to the designated attitude data;
matching the designated well deviation angle with a well deviation angle interval corresponding to each correction data in the correction data set, and taking the correction data corresponding to the matched well deviation angle interval as designated correction data; wherein the matched well deviation angle interval comprises a well deviation angle interval which the specified well deviation angle belongs to;
correcting the specified attitude data by using the specified correction data;
wherein the correction data in the correction data set is obtained by the following method:
obtaining a plurality of well deviation angle intervals;
determining a representative well deviation angle of each well deviation angle interval and at least 3 tool face angles corresponding to the representative well deviation angles;
for each tool face angle in the at least 3 tool face angles, measuring attitude data corresponding to the tool face angle as measured attitude data, and calculating the attitude data corresponding to the tool face angle as theoretical attitude data;
and calculating correction data corresponding to the oblique angle interval as correction data in the correction data set based on the measured attitude data and the theoretical attitude data.
2. The method of claim 1, wherein determining a specified borehole angle to which the specified pose data corresponds comprises:
by the formula
Figure FDA0002856344160000011
Determining a designated well deviation angle corresponding to the designated attitude data; wherein the content of the first and second substances,
bzfor specifying attitude data B1A component in the Z direction in the xyz coordinate system;
g is the earth gravity acceleration;
I1for specifying attitude data B1A corresponding specified well angle.
3. The method of claim 1, wherein said correcting the specified attitude data using the specified correction data comprises:
using the specified correction data, by formula D ═ C1×B1Correcting the specified attitude data; wherein the content of the first and second substances,
d is the corrected specified attitude data;
C1correcting data for the designation;
B1and the specified attitude data is obtained.
4. The method of claim 1, wherein determining at least 3 toolface angles corresponding to the representative borehole inclination angle comprises:
by the formula
Figure FDA0002856344160000021
Determining at least 3 toolface angles corresponding to the representative well angle; wherein the content of the first and second substances,
t is the determined toolface angle;
k is at least 3 of 0, 1, 2 and 3;
Figure FDA0002856344160000022
5. the method of claim 4, wherein k is any 3 of 0, 1, 2, and 3.
6. The method of claim 1, wherein calculating pose data corresponding to the toolface angle as theoretical pose data comprises:
by the formula
Figure FDA0002856344160000023
Calculating attitude data corresponding to the tool face angle as theoretical attitude data; wherein the content of the first and second substances,
gxtheoretical attitude data G corresponding to the tool face angle1Component in the X direction under the xyz coordinate system;
gytheoretical attitude data G corresponding to the tool face angle1The component in the Y direction in the xyz coordinate system;
gztheoretical attitude data G corresponding to the tool face angle1Component in the Z direction in the xyz coordinate system;
i represents a well inclination angle;
t is the toolface angle.
7. The method of claim 1, wherein calculating correction data for the interval of the borehole based on the measured attitude data and the theoretical attitude data comprises:
based on the measured attitude data and the theoretical attitude data, by formula C2＝B2×G2 -1Calculating correction data corresponding to the well deviation angle interval; wherein the content of the first and second substances,
C2correcting data corresponding to the inclination angle interval;
B2for measuring attitude matrices, includingMeasured attitude data corresponding to each of the at least 3 toolface angles;
G2and the theoretical attitude matrix comprises theoretical attitude data corresponding to each tool face angle in the at least 3 tool face angles.
8. An attitude data correction apparatus characterized by comprising:
the determining unit is used for determining a specified inclination angle corresponding to the specified attitude data;
the acquisition unit is used for matching the specified well deviation angle with a well deviation angle interval corresponding to each correction data in the correction data set, and taking the correction data corresponding to the matched well deviation angle interval as the specified correction data; wherein the matched well deviation angle interval comprises a well deviation angle interval which the specified well deviation angle belongs to;
a correction unit configured to correct the specified attitude data using the specified correction data;
wherein the correction data in the correction data set is obtained by the following method:
obtaining a plurality of well deviation angle intervals;
determining a representative well deviation angle of each well deviation angle interval and at least 3 tool face angles corresponding to the representative well deviation angles;
for each tool face angle in the at least 3 tool face angles, measuring attitude data corresponding to the tool face angle as measured attitude data, and calculating the attitude data corresponding to the tool face angle as theoretical attitude data;
and calculating correction data corresponding to the oblique angle interval as correction data in the correction data set based on the measured attitude data and the theoretical attitude data.
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