CN107515001B - Rotary steering stabilized platform gravity toolface angle dynamic measurement method and device - Google Patents
Rotary steering stabilized platform gravity toolface angle dynamic measurement method and device Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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Abstract
The present invention relates to a kind of gravity toolface angle dynamic measurement method of rotary steering stabilized platform and devices, corresponding acceleration, magnetic field and angular velocity data when being moved using the stabilized platform of dual acceleration meter, three axis fluxgate sensors and gyroscope measurement, after carrying out pre-filtering, sensor fault is judged automatically in different operating conditions and different sensors failure and switches to corresponding calculation method resolves gravity toolface angle, it realizes the measurement to gravity toolface angle, improves the reliability of gravity toolface angle measurement；And the rate over the ground for gravity toolface angle and the gyroscope measurement for measuring and resolving by complementary filter fusion dual acceleration meter or single accelerometer or fluxgate sensor, weaken the influence of oscillation crosswise and twisting vibration to gravity toolface angle measured value, obtained gravity toolface angle measured value is more accurate.
Description
Technical field
The invention belongs to drilling tool posture dynamic measuring tech fields, are related to uniaxial inertial platform attitude measurement technology,
Specifically, relating to the gravity toolface angle dynamic measurement method and device of a kind of rotary steering stabilized platform.
Background technique
In petroleum directed-drilling technique, gravity tool-face is very important technological parameter.With drill string in certain bent angle
To behind shaft bottom under guide drilling tool, flexure plane and shaft bottom disk institute at intersection using shaft bottom disc flash as initial line, clockwise
The angle turned over is known as gravity tool-face, and the flexure plane of guide drilling tool is known as device surface.Conventional guide drilling tool is curved
Connector or helicoid hydraulic motor with bent angle, rotary steering drilling tool be grow up on the basis of conventional steering tool it is a kind of high
Performance guide digging tool.Rotary steering drilling tool can be divided into pushing type and two kinds of directional type according to guidance mode, and every
Whether a kind of guidance mode rotates according to drill collar and can be divided into static type and two kinds of dynamic type, is thus combined into four kinds of rotations and leads
To drilling mode, wherein dynamic directional type rotary steerable tool is current state-of-the-art rotary steering drilling tool.With other rotations
Turn guide drilling tool difference, to guarantee that rotary steerable tool gravity toolface angle in the case where drill collar continuous rotation is stablized,
Dynamic directional type rotary steerable tool interior design has automatically controlled stabilized platform, the continuous rotation of drill collar is isolated, guarantees drill bit
Stablize be directed toward, i.e., gravity toolface angle stablize.It can be seen that whether gravity toolface angle is stable directly to determine drilling tool
It can be oriented to.
Gravity toolface angle dynamic may be implemented during compound drilling and measure for conventional MWD (measurement while drilling) system, but
It is, since gravity toolface angle renewal rate is slower, not to be able to satisfy the measurement request of rotary steering stabilized platform.Actual well drilled mistake
Cheng Zhong, the acceleration of motion that extensional vibration, oscillation crosswise and torque vibration generate can generate gravity acceleration measurement tight
It interferes again, influences more serious when high speed dynamic measures, lead to the gravity toolface angle dynamic measurement results error calculated
It is larger.
105180889 A's of Publication No. CN discloses a kind of dynamic rotary appearance for drilling well in Chinese patent literature
State measuring device and method, and a kind of dynamic rotary attitude measurement method is specifically disclosed, this method passes through magnetic transducing first
Device, accelerometer and gyroscope measure the revolving speed of earth magnetic field component, terrestrial gravitation component and whole device respectively, by each biography
Being physically entered for sensor acquisition is converted into voltage output；Then the revolving speed obtained according to installation error coefficient and gyroscope is adding
Harmful acceleration item is removed in the output item of speedometer, realizes error compensation；Then it is adopted according to accelerometer and magnetic sensor
The earth magnetic field of collection and terrestrial gravitation data calculate the dynamic rotary posture of drilling well.This method is carried out using gyroscope Differential of Speed
Acceleration error compensation, but this method is easily affected by noise, and compensation effect is poor.
The Chinese patent literature of 104727807 A of Publication No. CN discloses a kind of angle position measurement method and system,
Specifically disclose a kind of drilling tool angle position measurement method and system.Method includes the following steps: acquiring underground working in real time
Information；Whether drilling tool is judged based on rotation speed determined by mud flow rate information and geomagnetic field information or gravity field information
In static state；When drilling tool is static, hole deviation, the static weight tool-face of drilling tool and static-magnetic tool-face are calculated, and will
Fiducial tool face is determined as static weight tool-face or static-magnetic tool-face；When drilling tool movement, the change of magnetic tool-face is calculated
Change amount；The variable quantity superposition calculation in fiducial tool face and magnetic tool-face is obtained into the dynamic gravity tool-face of drilling tool so that it is determined that boring
The angle position of tool.The invention, come the gravity tool-face of real-time measurement drilling tool, is monitored simultaneously using the opposite variation of rotating excitation field
Magnetic interference situation can avoid influence of the magnetic disturbance to measurement result, realize the accurate measurement of drilling tool angle position.But in dynamic
In the case of, when fully relying on fluxgate measurement gravity toolface angle, fluxgate is easy to be interfered by underground ferromagnetic material, and the hair
Hole deviation, orientation, magnetic dip angle are constant in a certain section of dynamic measuring section of bright hypothesis or variation is smaller, which will lead to gravity work
It is larger to have face angle measured deviation.
A kind of new method (bibliography: poplar for dynamic orientation measurement in down-hole equipment rotation of the propositions such as Yang Quanjin
A kind of new method [J] oil drilling technique for dynamic orientation measurement in down-hole equipment rotation of Quan Jin, Jiang Haixu, Zuo Xin,
2014,36 (1): 40-43) method using Vector Rotation is analyzed, it theoretically derives and calculates magnetic tool-face and gravity tool
The process of face declinate, and give experimental result.But this method does not provide is settled accounts by fluxgate raw measurement data in detail
The formula of gravity toolface angle.
From the foregoing, it will be observed that directly sensor is installed on rotary steering stabilized platform, the attitude measurement method of design specialized
And device to the accuracy that improves measurement result be very it is necessary to.
Summary of the invention
Existing measuring result error big deficiency when the present invention is for prior art dynamic measurement gravity toolface angle, mentions
For the gravity toolface angle dynamic measurement method and device of a kind of small, high reliablity the rotary steering stabilized platform of measurement error.
In order to achieve the above object, the present invention provides a kind of gravity toolface angle of rotary steering stabilized platform dynamics to survey
Amount method, contains following steps:
(1) main accelerometer, secondary accelerometer, three axis fluxgate sensors and gyroscope, institute are installed on stabilized platform
The XZ axial plane for stating main accelerometer is overlapped with the device surface of drilling guidance tool, the XZ axial plane of the pair accelerometer and institute
The XZ axial plane of main accelerometer is stated in angle, the three axis fluxgates sensor is located at one end of the main accelerometer, and
The XZ axial plane of the three axis fluxgates sensor is overlapped with the device surface of drilling guidance tool, the sensitive axes of the gyroscope with
The stabilized platform axis is parallel；
(2) when stabilized platform moves, the three of stabilized platform at main accelerometer place described in main accelerometer real-time measurement
Axle acceleration component, where pair accelerometer described in secondary accelerometer real-time measurement at stabilized platform 3-axis acceleration component,
The three-axle magnetic field component of stabilized platform at where three axis fluxgate sensors described in three axis fluxgate sensor measurements；Gyroscope is real
When measure at the gyroscope point around stabilized platform axis rotation angular speed；
(3) to the Y-axis measured value of main accelerometer measuresWith Z axis measured valueThe Y-axis of secondary accelerometer measures is surveyed
MagnitudeWith Z axis measured valueThe Y-axis measured value b of three axis fluxgate sensor measurementsyWith Z axis measured value bz, gyroscope survey
The measured value ω of amountgPre-filtering processing is carried out, obtains estimated value after filtering out noise
(4) determine main accelerometer and the secondary working condition of accelerometer and the Vibration Condition of underground working；If main add
When speedometer and secondary accelerometer work normally and oscillation intensity is in normal range (NR), power tool-face is counted weight using dual acceleration
Angle calculation method resolves to obtain gravity toolface angle βa；If some failure and vibration is strong in main accelerometer and secondary accelerometer
When degree is in normal range (NR), resolve to obtain gravity toolface angle β using single accelerometer gravity toolface angle calculation methodg；If
When main accelerometer and the equal failure of secondary accelerometer or oscillation intensity are more than normal range (NR), whether three axis fluxgate sensors are judged
It works normally, if three axis fluxgate normal operation of sensor, resolves to obtain weight using fluxgate gravity toolface angle calculation method
Power tool-face angle betabIf three axis fluxgate sensor faults, tool face azimuth can not normally resolve, need to pull out of hole maintenance；
(5) determine whether gyroscope is working properly, if gyroscope is working properly, passes through complementary filter fusion steps (four)
The gravity toolface angle β of resolvingaOr βgOr βbWith gyroscope measured value ωgEstimated valueObtain complementary filter gravity tool
Face angle βc, complementary filter gravity toolface angle βcAs final tool face azimuth measured value β, if gyroscope failure, directlys adopt
The gravity toolface angle β that step (4) resolvesaOr βgOr βbAs final gravity toolface angle measured value β.
Further, dual acceleration meter gravity toolface angle calculation method resolves to obtain the specific steps of gravity toolface angle
It is as follows:
Note stabilized platform radius is R, and the measurement error item of main accelerometer Y-axis and Z axis isSecondary accelerometer Y
The measurement error item of axis and Z axis isThe then measured value of main accelerometer Y-axis and Z axisAnd secondary accelerometer Y
The measured value of axis and Z axisMeet following measurement equation:
In formula, g is acceleration of gravity, βaFor gravity toolface angle,Angular acceleration is rotated for stabilized platform, ω is to stablize
Platform rotates angular speed, and γ is the angle of the XZ axial plane of secondary accelerometer and the XZ axial plane of main accelerometer, 0 ° < γ≤
360°；
Ignore the error term of measurement, arrange formula (1) and obtain:
Gravity toolface angle β is obtained by solution formula (2)a。
Further, when γ=90 °, by the estimated value of pre-filtering treated main accelerometer Y-axis and Z axisAnd the estimated value of secondary accelerometer Y-axis and Z axisBetween there are following redundancy relationships:
Then measure equation expression are as follows:
In formula, ayfIt indicates by main accelerometer and the fused Y-axis measured value of secondary accelerometer data, azfIndicate warp
Cross main accelerometer and the fused Z axis measured value of secondary accelerometer data；
Gravity toolface angle β is obtained by solution formula (4)a；
When γ=180 °, by the estimated value of pre-filtering treated main accelerometer Y-axis and Z axisAnd
The estimated value of secondary accelerometer Y-axis and Z axisBetween there are following redundancy relationships:
Then measure equation expression are as follows:
Gravity toolface angle β is obtained by solution formula (6)a；
When γ=270 °, by the estimated value of pre-filtering treated main accelerometer Y-axis and Z axisAnd
The estimated value of secondary accelerometer Y-axis and Z axisBetween there are following redundancy relationships:
Then measure equation expression are as follows:
Gravity toolface angle β is obtained by solution formula (8)a。
Further, single accelerometer gravity toolface angle calculation method resolves to obtain the specific steps of gravity toolface angle
It is as follows:
In the case where secondary accelerometer failure, gravity toolface angle is resolved using main accelerometer estimated value
In the case where main accelerometer failure, gravity toolface angle is resolved using secondary accelerometer estimated value
Further, fluxgate gravity toolface angle calculation method resolves to obtain the specific steps of gravity toolface angle such as
Under:
Note stabilized platform position Geomagnetic Total Field is B, and the hole angle of static measurement is α, drift azimuth is
It is D with magnetic dip angle；
Define the current pose of drilling guidance toolIt is from initial position according to along three axis fluxgate sensors
Z axis change drift azimuthThen change hole angle α around the Y-axis of three axis fluxgate sensors, finally around three axis fluxgates
The X-axis of sensor changes gravity toolface angle βbIt obtains；It is as follows that corresponding posture changing matrix Mz, My and Mx are rotated three times:
Note:Then have:
Work as by2≠ 0 or bz2≠ 0 up-to-date style (10) is set up, in formula, bx1,by1,bz1Indicate initial position according to along three axis magnetic fluxs
The Z axis of door sensor changes drift azimuthThree-axle magnetic field component afterwards, bx2,by2,bz2It indicates around three axis fluxgate sensors
Y-axis change hole angle α three-axle magnetic field component；
Gravity toolface angle β is obtained by solution formula (10)b。
Further, in step (5), gravity toolface angle β is merged by complementary filteraOr βgOr βbIt is measured with gyroscope
Value ωgEstimated valueObtained complementary filter gravity toolface angle βc, indicated using Laplace form are as follows:
In formula, KpAnd KiFor complementary filter PI controller parameter, βiFor gravity toolface angle βaOr βgOr βb,For gyro
Instrument measured value ωgEstimated value.
Preferably, in step (5), gravity toolface angle β is merged in complementary filteraOr βgOr βbWith gyroscope measured value
ωgMeasured value ωgBefore, the jump for eliminating gravity toolface angle is pre-processed by gravity toolface angle, the specific steps are that::
Note:
In formula, βiFor gravity toolface angle βaOr βgOr βb, Δ e and β1For pretreated intermediate variable, e is pretreatment output
Deviation, complementary filter gravity toolface angle βcIt needs to handle by gravity toolface angle codomain before output, so that βcIt is located at
[0,360] within the scope of codomain.
In order to achieve the above object, the present invention also provides a kind of rotary steering stabilized platform gravity toolface angle dynamics to survey
Measure device, comprising:
Main accelerometer, is installed on stabilized platform, for measuring three of stabilized platform at the main accelerometer place
The XZ axial plane of axle acceleration component, the main accelerometer is overlapped with the device surface of drilling guidance tool；
Secondary accelerometer, is installed on stabilized platform, for measuring three of stabilized platform at the secondary accelerometer place
Axle acceleration component, the XZ axial plane of the pair accelerometer and the XZ axial plane of the main accelerometer are in angle；
Three axis fluxgate sensors, are installed on stabilized platform, for measuring at the three axis fluxgates sensor place
The three-axle magnetic field component of stabilized platform, the three axis fluxgates sensor are located at one end of main accelerometer, and the three axis magnetic
The XZ axial plane of open gate sensor is overlapped with the device surface of drilling guidance tool；
Gyroscope is installed on stabilized platform, is turned at the gyroscope point around stabilized platform axis for measuring
Dynamic angular speed, the sensitive axes of the gyroscope are parallel with the stabilized platform axis；
Prefilter module is sensed with the main accelerometer, the secondary accelerometer, three axis fluxgate respectively
Device, gyroscope connection obtain the estimated value of gyroscope measured value for eliminating measurement noise；
The oscillation intensity judging unit being connect with the prefilter module, for judging the current vibration of stabilized platform
Intensity；
The breakdown judge unit being connect with the oscillation intensity judging unit, for judging the main accelerometer, described
Secondary accelerometer, the three axis fluxgates sensor and the gyroscope whether failure；
The acceleration information integrated unit connecting with the breakdown judge unit, the acceleration information integrated unit include
Y-axis data fusion module and Z axis data fusion module；
The acceleration gravity toolface angle solving unit being connect with the acceleration information integrated unit, the acceleration weight
Power tool face azimuth solving unit includes that dual acceleration gravity toolface angle resolves module and single acceleration gravity toolface angle resolving
Module, for resolving gravity toolface angle；
The fluxgate gravity toolface angle solving unit being connect with the breakdown judge unit, for resolving gravity tool-face
Angle；
Respectively with the acceleration gravity toolface angle solving unit and the fluxgate gravity toolface angle solving unit
The complementary filter data fusion unit of connection, for merging the acceleration gravity toolface angle solving unit or the fluxgate
The estimated value of gravity toolface angle and gyroscope measured value that gravity toolface angle solving unit resolves obtains gravity tool
Face angle.
Preferably, the complementary filter data fusion unit include gravity toolface angle preprocessing module and with gravity tool
Face angle preprocessing module connection complementary filter, the gravity toolface angle preprocessing module respectively with the acceleration gravity
Tool face azimuth solving unit is connected with the fluxgate gravity toolface angle solving unit, for eliminating the jump of gravity toolface angle
Become.
Preferably, the stabilized platform is equipped with main accelerometer mounting groove, secondary accelerometer mounting groove, three axis fluxgates
Sensor mounting groove and gyroscope mounting groove, the pair accelerometer mounting groove be equipped with it is multiple, for changing the secondary acceleration
The angle of angle between meter and main accelerometer.
Preferably, the main accelerometer mounting groove and the three axis fluxgates sensor mounting groove are arranged in drilling guidance
On the device surface of tool and the intersection of stabilized platform side, the gyroscope mounting groove is arranged in the secondary accelerometer mounting groove
Surface.
Preferably, the X-axis of the main accelerometer is parallel with the stabilized platform axis, the Z axis of the main accelerometer
It is directed toward the axis of rotation of the stabilized platform.
Preferably, the X-axis of the three axis fluxgates sensor is parallel with the stabilized platform axis, three axis fluxgate
The Z axis of sensor is directed toward the axis of rotation of the stabilized platform.
Compared with prior art, the beneficial effects of the present invention are:
(1) data that the present invention is measured using dual acceleration meter, three axis fluxgate sensors and gyroscope, in different operating conditions
Sensor fault is judged automatically when with different sensors failure and switches to alternative scheme and is measured, and gravity tool-face is improved
The reliability of angular measurement.
(2) present invention is measured and is solved by complementary filter fusion dual acceleration meter or single accelerometer or fluxgate sensor
The rate over the ground of gravity toolface angle and the gyroscope measurement of calculation, weakens oscillation crosswise and twisting vibration and surveys to gravity toolface angle
The influence of magnitude, obtained gravity toolface angle measured value is more accurate, improves the dynamic measurement precision of gravity toolface angle.
(3) present invention pre-processes gravity toolface angle, eliminates gravity toolface angle not connecting at 360 ° of positions
Continuous jump realizes gravity toolface angle in [0,360] so that complementary filter precision is not influenced by the jump of tool-face measured value
Dynamic High-accuracy measurement in range.
Detailed description of the invention
Fig. 1 is the flow chart of the gravity toolface angle dynamic measurement method of rotary steering of embodiment of the present invention stabilized platform.
Fig. 2 is the scheme of installation of different sensors on stabilized platform of the embodiment of the present invention.
Fig. 3 is the A-A sectional view of Fig. 2 of the present invention.
Fig. 4 a-4b is that dual acceleration of embodiment of the present invention meter gravity toolface angle calculation method resolves gravity toolface angle
Measured drawing.
Fig. 5 is the data fusion complementary filter structure chart of gyroscope of embodiment of the present invention measurement.
Fig. 6 is that gravity toolface angle of the embodiment of the present invention pre-processes aftereffect fruit mapping.
In figure, 1, main accelerometer, 2, secondary accelerometer, 3, three axis fluxgate sensors, 4, gyroscope, 5, main acceleration
Count mounting groove, 6, secondary accelerometer mounting groove, 7, three axis fluxgate sensor mounting grooves, 8, gyroscope mounting groove, 9, stablize it is flat
Platform axis, 10, the secondary alternative mounting groove of accelerometer, 11, the device surface intersection of drilling guidance tool, 12, stabilized platform.
Specific embodiment
In the following, the present invention is specifically described by illustrative embodiment.It should be appreciated, however, that not into one
In the case where step narration, element, structure and features in an embodiment can also be advantageously incorporated into other embodiments
In.
Referring to Fig. 1, Fig. 2, the present invention provides a kind of gravity toolface angle of rotary steering stabilized platform dynamic measurement sides
Method contains following steps:
Step 1: main accelerometer 1, secondary accelerometer 2, three axis fluxgate sensors, 3 and are installed on stabilized platform 12
The XZ axial plane of gyroscope 4, the main accelerometer 1 is overlapped with the device surface of drilling guidance tool, the pair accelerometer 2
The XZ axial plane of XZ axial plane and the main accelerometer 1 is in angle, and the three axis fluxgates sensor 3 is located at the main acceleration
One end of degree meter 1, and the XZ axial plane of the three axis fluxgates sensor 3 is overlapped with the device surface of drilling guidance tool, it is described
The sensitive axes of gyroscope 4 are parallel with the stabilized platform axis 9；
Step 2: when stabilized platform moves, stabilized platform at main accelerometer place described in main accelerometer real-time measurement
3-axis acceleration component, the 3-axis acceleration of place's stabilized platform divides where pair accelerometer described in secondary accelerometer real-time measurement
It measures, the three-axle magnetic field component of stabilized platform at three axis fluxgate sensors places described in three axis fluxgate sensor measurements；Gyro
Around the angular speed of stabilized platform axis rotation at gyroscope point described in instrument real-time measurement；
Step 3: to the Y-axis measured value of main accelerometer measuresWith Z axis measured valueThe Y of secondary accelerometer measures
Axis measured valueWith Z axis measured valueThe Y-axis measured value b of three axis fluxgate sensor measurementsyWith Z axis measured value bz, gyro
The measured value ω of instrument measurementgPre-filtering processing is carried out, obtains estimated value after filtering out noise
Step 4: determine main accelerometer and the secondary working condition of accelerometer and the Vibration Condition of underground working；If
When main accelerometer and secondary accelerometer work normally and oscillation intensity is in normal range (NR), power work is counted weight using dual acceleration
Tool face angle calculation method resolves to obtain gravity toolface angle βa；If some failure and vibration in main accelerometer and secondary accelerometer
When fatigue resistance is in normal range (NR), resolve to obtain gravity toolface angle using single accelerometer gravity toolface angle calculation method
βg；If main accelerometer and the equal failure of secondary accelerometer or oscillation intensity are more than normal range (NR), judge that three axis fluxgates sense
Whether device works normally, if three axis fluxgate normal operation of sensor, is resolved using fluxgate gravity toolface angle calculation method
Obtain gravity toolface angle βbIf three axis fluxgate sensor faults, tool face azimuth can not normally resolve, need to pull out of hole maintenance；
Step 5: determine whether gyroscope is working properly, if gyroscope is working properly, passes through complementary filter fusion steps four
The gravity toolface angle β of resolvingaOr βgOr βbWith gyroscope measured value ωgEstimated valueObtain complementary filter gravity tool
Face angle βc, by complementary filter gravity toolface angle βcAs final gravity toolface angle measured value β, if gyroscope failure, directly
Meet the gravity toolface angle β resolved using step S4aOr βgOr βbAs final gravity toolface angle measured value β.
The above-mentioned measurement method of the present invention, the data measured using dual acceleration meter, three axis fluxgate sensors and gyroscope,
Sensor fault is judged automatically in different operating conditions and different sensors failure and switches to alternative scheme and is measured, and is improved
The reliability of gravity toolface angle measurement；Gravity toolface angle and gyroscope rate over the ground are merged by complementary filter, is improved
The dynamic measurement precision of gravity toolface angle.
In the step of above-mentioned measurement method four, dual acceleration meter gravity toolface angle calculation method resolves to obtain gravity tool
Specific step is as follows for face angle:
Note stabilized platform radius is R, and the measurement error item of main accelerometer Y-axis and Z axis isSecondary accelerometer Y
The measurement error item of axis and Z axis isThe then measured value of main accelerometer Y-axis and Z axisAnd secondary accelerometer Y
The measured value of axis and Z axisMeet following measurement equation:
In formula, g is acceleration of gravity, βaFor gravity toolface angle,Angular acceleration is rotated for stabilized platform, ω is to stablize
Platform rotates angular speed, and γ is the angle of the XZ axial plane of secondary accelerometer and the XZ axial plane of main accelerometer, 0 ° < γ≤
360°；
Ignore the error term of measurement, arrange formula (1) and obtain:
Gravity toolface angle β is obtained by solution formula (2)a。
Since γ value needs to meet convenient for calculating and being easily achieved the requirement of sensitive axes redundancy, a fixed limit is done to the selection of γ value
System.When γ=90 °, 180 °, 270 °, the measured value of main accelerometer Y-axis and Z axisAnd secondary accelerometer Y-axis and Z
The measured value of axisBetween there is fixed numerical relation, when γ ≠ 90 °, 180 °, 270 °, main accelerometer Y-axis and Z
The measured value of axisAnd the measured value of secondary accelerometer Y-axis and Z axisBetween relationship will be by gravity tool-face
Angle influences, and can not achieve sensitive axes redundancy.
When γ=90 °, by the estimated value of pre-filtering treated main accelerometer Y-axis and Z axisAnd it is secondary
The estimated value of accelerometer Y-axis and Z axisBetween there are following redundancy relationships:
Then measure equation expression are as follows:
In formula, ayfIt indicates by main accelerometer and the fused Y-axis measured value of secondary accelerometer data, azfIndicate warp
Cross main accelerometer and the fused Z axis measured value of secondary accelerometer data；
Gravity toolface angle β is obtained by solution formula (4)a；
When γ=180 °, by the estimated value of pre-filtering treated main accelerometer Y-axis and Z axisAnd
The estimated value of secondary accelerometer Y-axis and Z axisBetween there are following redundancy relationships:
Then measure equation expression are as follows:
Gravity toolface angle β is obtained by solution formula (6)a；
When γ=270 °, by the estimated value of pre-filtering treated main accelerometer Y-axis and Z axisAnd
The estimated value of secondary accelerometer Y-axis and Z axisBetween there are following redundancy relationships:
Then measure equation expression are as follows:
Gravity toolface angle β is obtained by solution formula (8)a。
In the step of above-mentioned measurement method four, single accelerometer gravity toolface angle calculation method resolves to obtain gravity tool
Specific step is as follows for face angle:
In the case where secondary accelerometer failure, gravity toolface angle is resolved using main accelerometer estimated value
In the case where main accelerometer failure, gravity toolface angle is resolved using secondary accelerometer estimated value
In the step of above-mentioned measurement method four, fluxgate gravity toolface angle calculation method resolves to obtain gravity toolface angle
Specific step is as follows:
Note stabilized platform position Geomagnetic Total Field is B, and the hole angle of static measurement is α, drift azimuth is
It is D with magnetic dip angle；
Define the current pose of drilling guidance toolIt is from initial position according to along three axis fluxgate sensors
Z axis change drift azimuthThen change hole angle α around the Y-axis of three axis fluxgate sensors, finally around three axis fluxgates
The X-axis of sensor changes gravity toolface angle βbIt obtains；It is as follows that corresponding posture changing matrix Mz, My and Mx are rotated three times:
Note:Then have:
Work as by2≠ 0 or bz2≠ 0 up-to-date style (10) is set up, in formula, bx1,by1,bz1Indicate initial position according to along three axis magnetic fluxs
The Z axis of door sensor changes drift azimuthThree-axle magnetic field component afterwards, bx2,by2,bz2It indicates around three axis fluxgate sensors
Y-axis change hole angle α three-axle magnetic field component；
Gravity toolface angle β is obtained by solution formula (10)b。
Referring to the structure chart for the data fusion complementary filter that Fig. 5, Fig. 5 are gyroscope measurement.Acceleration transducer or magnetic
Open gate sensor noise concentrates on high band, and gyroscope noise concentrates on low-frequency range, and therefore, acceleration transducer or fluxgate pass
There is complementary measurement characteristic between sensor and gyroscope.The above-mentioned measurement method of the present invention uses nonlinear complementarity filter, draws
Enter error and gyroscopic drift that PI controller reduces measured value, as preferred design, five the step of above-mentioned measurement method in, pass through
Complementary filter merges gravity toolface angle βaOr βgOr βbWith gyroscope measured value ωgEstimated valueObtained complementary filter
Gravity toolface angle βc, indicated using Laplace form are as follows:
In formula, KpAnd KiFor complementary filter PI controller parameter, βiFor gravity toolface angle βaOr βgOr βb,For gyro
Instrument measured value ωgEstimated value.The gravity toolface angle obtained after fusion has slackened oscillation crosswise and twisting vibration to gravity work
Have the influence of face angle, keeps the measurement of gravity toolface angle more accurate.
In the step of above-mentioned measurement method five, gravity toolface angle β is merged in complementary filteraOr βgOr βbIt is surveyed with gyroscope
Magnitude ωgEstimated valueBefore, the jump for eliminating gravity toolface angle, specific steps are pre-processed by gravity toolface angle
Are as follows:
Note:
In formula, βiFor gravity toolface angle βaOr βgOr βb, Δ e and β1For pretreated intermediate variable, e is pretreatment output
Deviation, complementary filter gravity toolface angle βcIt needs to handle by gravity toolface angle codomain before output, so that βcIt is located at
[0,360] within the scope of codomain.
Referring to fig. 2, the present invention also provides a kind of rotary steering stabilized platform gravity toolface angle dynamic measurement device, packets
It includes:
Main accelerometer 1, is installed on stabilized platform 12, for stabilized platform where measuring the main accelerometer 1
The XZ axial plane of 12 3-axis acceleration component, the main accelerometer 1 is overlapped with the device surface of drilling guidance tool；
Secondary accelerometer 2, is installed on stabilized platform 12, for stabilized platform where measuring the secondary accelerometer 2
12 3-axis acceleration component, the XZ axial plane of the pair accelerometer 2 and the XZ axial plane of the main accelerometer 1 are in folder
Angle；
Three axis fluxgate sensors 3, are installed on stabilized platform 12, for measuring three axis fluxgates sensor, 3 institute
In the three-axle magnetic field component of place's stabilized platform 12, the three axis fluxgates sensor 3 is located at one end of main accelerometer 1, and institute
The XZ axial plane for stating three axis fluxgate sensors 3 is overlapped with the device surface of drilling guidance tool；
Gyroscope 4 is installed on stabilized platform 12, for measuring at 4 point of gyroscope around stabilized platform axis
The angular speed that line 9 rotates, the sensitive axes of the gyroscope 4 are parallel with the stabilized platform axis 9；
Prefilter module is sensed with the main accelerometer, the secondary accelerometer, three axis fluxgate respectively
Device, gyroscope connection obtain the estimated value of gyroscope measured value for eliminating measurement noise；
The oscillation intensity judging unit being connect with the prefilter module, for judging the current vibration of stabilized platform
Intensity；
The breakdown judge unit being connect with the oscillation intensity judging unit, for judging the main accelerometer, described
Secondary accelerometer, the three axis fluxgates sensor and the gyroscope whether failure；
The acceleration information integrated unit connecting with the breakdown judge unit, the acceleration information integrated unit include
Y-axis data fusion module and Z axis data fusion module；
The acceleration gravity toolface angle solving unit being connect with the acceleration information integrated unit, the acceleration weight
Power tool face azimuth solving unit includes that dual acceleration gravity toolface angle resolves module and single acceleration gravity toolface angle resolving
Module, for resolving gravity toolface angle；
The fluxgate gravity toolface angle solving unit being connect with the breakdown judge unit, for resolving gravity tool-face
Angle；
Respectively with the acceleration gravity toolface angle solving unit and the fluxgate gravity toolface angle solving unit
The complementary filter data fusion unit of connection, for merging the acceleration gravity toolface angle solving unit or the fluxgate
The estimated value of gravity toolface angle and gyroscope measured value that gravity toolface angle solving unit resolves obtains gravity tool
Face angle.
Preferred design is carried out to above-mentioned measuring device, the complementary filter data fusion unit includes that gravity toolface angle is pre-
Processing module and the complementary filter being connect with gravity toolface angle preprocessing module, the gravity toolface angle preprocessing module
It connect, is used for the acceleration gravity toolface angle solving unit and the fluxgate gravity toolface angle solving unit respectively
Eliminate the jump of gravity toolface angle.
For the ease of the installation of different sensors, preferred design is carried out to above-mentioned measuring device, it is referring to figs. 2 and 3, described
Stabilized platform is equipped with main accelerometer mounting groove 5, secondary accelerometer mounting groove 6, three axis fluxgate sensor mounting grooves 7 and top
Spiral shell instrument mounting groove 8, the pair accelerometer mounting groove be equipped with it is multiple, for changing the secondary accelerometer and main accelerometer it
Between angle angle.The installation site for changing secondary accelerometer according to the requirement that practical wiring and structure design, can change folder
The angle at angle.Referring to Fig. 3, preferably, being a secondary accelerometer respectively there are three the pair accelerometer mounting groove settings
Mounting groove 6 and two alternative mounting grooves 10 of secondary accelerometer.
With continued reference to Fig. 2, the main accelerometer mounting groove 5 and the three axis fluxgates sensor mounting groove 6 are arranged in
On the device surface of drilling guidance tool and the intersection of stabilized platform side, the gyroscope mounting groove 8 is arranged in the secondary acceleration
The surface of degree meter mounting groove 6.
With continued reference to Fig. 2, the X-axis of the main accelerometer 1 is parallel with the stabilized platform axis 9, the main acceleration
The Z axis of meter 1 is directed toward the axis of rotation of the stabilized platform.
With continued reference to Fig. 2, the X-axis of the three axis fluxgates sensor 3 is parallel with the stabilized platform axis 9, and described three
The Z axis of axis fluxgate sensor 3 is directed toward the axis of rotation of the stabilized platform.
Embodiment 1: in the present embodiment, the cloth of angle selection γ=180 ° between main accelerometer and secondary accelerometer
Mode is set, stabilized platform is horizontally arranged on fixed frame.Referring to fig. 4, stabilized platform revolving speed changes between ± 2.5rps.Work as stabilization
When platform revolving speed changes to -2.5rps by+2.5rps or changes to+2.5rps by -2.5rps, acceleration of motion is to Y-axis and Z axis
Measured value be affected.The difference of Y-axis data processing fore-aft acceleration measured value is about 2.8g, and the fluctuation of Y-axis measured value is obvious
Reduce, after the processing of dual acceleration data fusion method, effectively inhibits influence of the acceleration of motion to measured value.Z axis adds
Mean value difference of the velocity measurement before and after data fusion is about 0.63g, and CENTRIFUGAL ACCELERATING is calculated according to stabilized platform revolving speed
Degree is about 0.628g, and dual acceleration data fusion method preferably weakens influence of the centrifugal acceleration to Z axis measured value.
Embodiment 2: in the present embodiment, referring to Fig. 6, stabilized platform is with 1rps uniform rotation, using conventional treatment method
The error e obtained when measuring gravity toolface angle is discontinuous.But stabilized platform itself attitudes vibration is continuously, by this hair
The gravity toolface angle of bright measurement method measurement is pre-processed by gravity toolface angle, is remained useful deviation, is eliminated not
Continuous jump.
Embodiment provided above only with illustrating the present invention for convenience, and it is not intended to limit the protection scope of the present invention, In
Technical solution scope of the present invention, person of ordinary skill in the field make various simple deformations and modification, should all include
In the above claim.
Claims (10)
1. a kind of rotary steering stabilized platform gravity toolface angle dynamic measurement method, which is characterized in that contain following steps:
(1) main accelerometer, secondary accelerometer, three axis fluxgate sensors and gyroscope, the master are installed on stabilized platform
The XZ axial plane of accelerometer is overlapped with the device surface of drilling guidance tool, the XZ axial plane of the pair accelerometer and the master
The XZ axial plane of accelerometer is in angle, and the three axis fluxgates sensor is located at one end of the main accelerometer, and described
The XZ axial plane of three axis fluxgate sensors is overlapped with the device surface of drilling guidance tool, the sensitive axes of the gyroscope with it is described
Stabilized platform axis is parallel；
(2) when stabilized platform moves, three axis of stabilized platform add at main accelerometer place described in main accelerometer real-time measurement
Velocity component, where pair accelerometer described in secondary accelerometer real-time measurement at stabilized platform 3-axis acceleration component, three axis
Fluxgate sensor measures the three-axle magnetic field component of stabilized platform at the three axis fluxgates sensor place；Gyroscope is surveyed in real time
It measures at the gyroscope point around the angular speed of stabilized platform axis rotation；
(3) to the Y-axis measured value of main accelerometer measuresWith Z axis measured valueThe Y-axis measured value of secondary accelerometer measuresWith Z axis measured valueThe Y-axis measured value b of three axis fluxgate sensor measurementsyWith Z axis measured value bz, gyroscope measurement
Measured value ωgPre-filtering processing is carried out, obtains estimated value after filtering out noise
(4) determine main accelerometer and the secondary working condition of accelerometer and the Vibration Condition of underground working；If main acceleration
When meter and secondary accelerometer work normally and oscillation intensity is in normal range (NR), using dual acceleration meter gravity toolface angle solution
Calculation method resolves to obtain gravity toolface angle βa；If in main accelerometer and secondary accelerometer at some failure and oscillation intensity
When normal range (NR), resolve to obtain gravity toolface angle β using single accelerometer gravity toolface angle calculation methodg；If main add
When speedometer and the equal failure of secondary accelerometer or oscillation intensity are more than normal range (NR), judge whether three axis fluxgate sensors are normal
Work, if three axis fluxgate normal operation of sensor, resolves to obtain gravity work using fluxgate gravity toolface angle calculation method
Has face angle βbIf three axis fluxgate sensor faults, tool face azimuth can not normally resolve, need to pull out of hole maintenance；
(5) determine whether gyroscope is working properly, if gyroscope is working properly, resolved by complementary filter fusion steps (four)
Gravity toolface angle βaOr βgOr βbWith gyroscope measured value ωgEstimated valueObtain complementary filter gravity toolface angle
βc, by complementary filter gravity toolface angle βcAs final gravity toolface angle measured value, if gyroscope failure, is directly adopted
The gravity toolface angle β resolved with step (4)aOr βgOr βbAs final gravity toolface angle measured value β.
2. rotary steering stabilized platform gravity toolface angle dynamic measurement method as described in claim 1, which is characterized in that double
Accelerometer gravity toolface angle calculation method resolves to obtain gravity toolface angle that specific step is as follows:
Note stabilized platform radius is R, and the measurement error item of main accelerometer Y-axis and Z axis isSecondary accelerometer Y-axis and Z
The measurement error item of axis isThe then measured value of main accelerometer Y-axis and Z axisAnd secondary accelerometer Y-axis and Z
The measured value of axisMeet following measurement equation:
In formula, g is acceleration of gravity, βaFor gravity toolface angle,Angular acceleration is rotated for stabilized platform, ω is stabilized platform
Rotating angular speed, γ is the angle of the XZ axial plane of secondary accelerometer and the XZ axial plane of main accelerometer, 0 ° < γ≤360 °；
Ignore the error term of measurement, arrange formula (1) and obtain:
Gravity toolface angle β is obtained by solution formula (2)a。
3. rotary steering stabilized platform gravity toolface angle dynamic measurement method as claimed in claim 2, which is characterized in that when
When γ=90 °, by the estimated value of pre-filtering treated main accelerometer Y-axis and Z axisAnd secondary accelerometer Y
The estimated value of axis and Z axisBetween there are following redundancy relationships:
Then measure equation expression are as follows:
In formula, ayfIt indicates by main accelerometer and the fused Y-axis measured value of secondary accelerometer data, azfIt indicates to add by main
Speedometer and the fused Z axis measured value of secondary accelerometer data；
Gravity toolface angle β is obtained by solution formula (4)a；
When γ=180 °, by the estimated value of pre-filtering treated main accelerometer Y-axis and Z axisAnd pair adds
The estimated value of speedometer Y-axis and Z axisBetween there are following redundancy relationships:
Then measure equation expression are as follows:
Gravity toolface angle β is obtained by solution formula (6)a；
When γ=270 °, by the estimated value of pre-filtering treated main accelerometer Y-axis and Z axisAnd pair adds
The estimated value of speedometer Y-axis and Z axisBetween there are following redundancy relationships:
Then measure equation expression are as follows:
Gravity toolface angle β is obtained by solution formula (8)a。
4. rotary steering stabilized platform gravity toolface angle dynamic measurement method as claimed in claim 2, which is characterized in that single
Accelerometer gravity toolface angle calculation method resolves to obtain gravity toolface angle that specific step is as follows:
In the case where secondary accelerometer failure, gravity toolface angle is resolved using main accelerometer estimated value
In the case where main accelerometer failure, gravity toolface angle is resolved using secondary accelerometer estimated value
5. rotary steering stabilized platform gravity toolface angle dynamic measurement method as described in claim 1, which is characterized in that magnetic
Open gate gravity toolface angle calculation method resolves to obtain gravity toolface angle that specific step is as follows:
Note stabilized platform position Geomagnetic Total Field is B, and the hole angle of static measurement is α, drift azimuth isAnd dipping magnetic inclination
Angle is D；
Define the current pose of drilling guidance toolIt is from initial position according to the Z axis along three axis fluxgate sensors
Change drift azimuthThen change hole angle α around the Y-axis of three axis fluxgate sensors, finally sensed around three axis fluxgates
The X-axis of device changes gravity toolface angle βbIt obtains；It is as follows that corresponding posture changing matrix Mz, My and Mx are rotated three times:
Note: Then have:
Work as by2≠ 0 or bz2Formula (10) is set up when ≠ 0, in formula, bx1,by1,bz1Indicate that initial position is passed according to along three axis fluxgates
The Z axis of sensor changes drift azimuthThree-axle magnetic field component afterwards, bx2,by2,bz2Indicate the Y around three axis fluxgate sensors
The three-axle magnetic field component of axis change hole angle α；
Gravity toolface angle β is obtained by solution formula (10)b。
6. rotary steering stabilized platform gravity toolface angle dynamic measurement method as described in claim 1, which is characterized in that step
Suddenly in (five), gravity toolface angle β is merged by complementary filteraOr βgOr βbWith gyroscope measured value ωgEstimated valueIt obtains
Complementary filter gravity toolface angle βc, indicated using Laplace form are as follows:
In formula, KpAnd KiFor complementary filter PI controller parameter, βiFor gravity toolface angle βaOr βgOr βb,For gyroscope survey
Magnitude ωgEstimated value.
7. rotary steering stabilized platform gravity toolface angle dynamic measurement method as claimed in claim 6, which is characterized in that step
Suddenly in (five), gravity toolface angle β is merged in complementary filteraOr βgOr βbWith gyroscope measured value ωgEstimated valueBefore,
The jump for eliminating gravity toolface angle is pre-processed by gravity toolface angle, the specific steps are that:
Note:
In formula, βiFor gravity toolface angle βaOr βgOr βb, Δ e and β1For pretreated intermediate variable, e is the inclined of pretreatment output
Difference, complementary filter gravity toolface angle βcIt needs to handle by gravity toolface angle codomain before output, so that βcPositioned at [0,
360] within the scope of codomain.
8. a kind of rotary steering stabilized platform gravity toolface angle dynamic measurement device characterized by comprising
Main accelerometer, is installed on stabilized platform, and three axis for measuring stabilized platform at the main accelerometer place add
The XZ axial plane of velocity component, the main accelerometer is overlapped with the device surface of drilling guidance tool；
Secondary accelerometer, is installed on stabilized platform, and three axis for measuring stabilized platform at the secondary accelerometer place add
Velocity component, the XZ axial plane of the pair accelerometer and the XZ axial plane of the main accelerometer are in angle；
Three axis fluxgate sensors, are installed on stabilized platform, stablize at the three axis fluxgates sensor place for measuring
The three-axle magnetic field component of platform, the three axis fluxgates sensor are located at one end of main accelerometer, and three axis fluxgate
The XZ axial plane of sensor is overlapped with the device surface of drilling guidance tool；
Gyroscope is installed on stabilized platform, for measuring at the gyroscope point around the rotation of stabilized platform axis
Angular speed, the sensitive axes of the gyroscope are parallel with the stabilized platform axis；
Prefilter module, respectively with the main accelerometer, the secondary accelerometer, the three axis fluxgates sensor,
The gyroscope connection obtains the estimated value of gyroscope measured value for eliminating measurement noise；
The oscillation intensity judging unit being connect with the prefilter module, for judging that the current vibration of stabilized platform is strong
Degree；
The breakdown judge unit being connect with the oscillation intensity judging unit, for judging that the main accelerometer, the pair add
Speedometer, the three axis fluxgates sensor and the gyroscope whether failure；
The acceleration information integrated unit connecting with the breakdown judge unit, the acceleration information integrated unit includes Y-axis
Data fusion module and Z axis data fusion module；
The acceleration gravity toolface angle solving unit being connect with the acceleration information integrated unit, the acceleration gravity work
Tool face angle solving unit includes that dual acceleration gravity toolface angle resolves module and single acceleration gravity toolface angle resolving module,
For resolving gravity toolface angle；
The fluxgate gravity toolface angle solving unit being connect with the breakdown judge unit, for resolving gravity toolface angle；
It is connect respectively with the acceleration gravity toolface angle solving unit and the fluxgate gravity toolface angle solving unit
Complementary filter data fusion unit, for merging the acceleration gravity toolface angle solving unit or the fluxgate gravity
The estimated value of gravity toolface angle and gyroscope measured value that tool face azimuth solving unit resolves obtains gravity toolface angle.
9. rotary steering stabilized platform gravity toolface angle dynamic measurement device as claimed in claim 8, which is characterized in that institute
Complementary filter data fusion unit is stated to include gravity toolface angle preprocessing module and connect with gravity toolface angle preprocessing module
The complementary filter connect, the gravity toolface angle preprocessing module respectively with the acceleration gravity toolface angle solving unit
It is connected with the fluxgate gravity toolface angle solving unit, for eliminating the jump of gravity toolface angle.
10. rotary steering stabilized platform gravity toolface angle dynamic measurement device as claimed in claim 8 or 9, feature exist
In the stabilized platform is equipped with main accelerometer mounting groove, secondary accelerometer mounting groove, three axis fluxgate sensor mounting grooves
With gyroscope mounting groove, the pair accelerometer mounting groove be equipped with it is multiple, for changing the secondary accelerometer and main acceleration
The angle of angle between meter.
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| CN112459721B (en) * | 2021-02-03 | 2021-04-16 | 中国石油大学(华东) | Fault diagnosis method and device for rotary steering drilling tool measurement and control system and application |
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Application publication date: 20171226 Assignee: BEIJING LIUHE GREATNESS TECHNOLOGY Co.,Ltd. Assignor: China University of Petroleum (East China) Contract record no.: X2020370010018 Denomination of invention: Dynamic measurement method and device of surface angle of gravity tools on rotary steering stabilized platform Granted publication date: 20191101 License type: Common License Record date: 20201010 |
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