CN108387205A - The measurement method of drilling tool attitude measurement system based on Fusion - Google Patents
The measurement method of drilling tool attitude measurement system based on Fusion Download PDFInfo
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- CN108387205A CN108387205A CN201810056220.4A CN201810056220A CN108387205A CN 108387205 A CN108387205 A CN 108387205A CN 201810056220 A CN201810056220 A CN 201810056220A CN 108387205 A CN108387205 A CN 108387205A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01C21/20—Instruments for performing navigational calculations
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Abstract
The invention discloses the measurement methods of the drilling tool attitude measurement system based on Fusion, wherein the drilling tool dynamic attitude measurement system based on Fusion includes drilling tool, three axis accelerometer, three axis fluxgates, angular rate gyroscope and local filter；Three axis accelerometer, three axis fluxgates and angular rate gyroscope are installed on drilling tool, and three axis accelerometer, three axis fluxgates and angular rate gyroscope are separately installed with local filter；Matrix weights data anastomosing algorithm proposed by the present invention overcomes the defect of standard UKF algorithms, and without being reset to local filter by globalstate estimation, therefore have stronger fault-tolerance without handling local state estimation.
Description
Technical field
The invention belongs to petroleum drilling engineering technical fields, more particularly to the drilling tool posture based on Fusion
The measurement method of measuring system.
Background technology
As the continuous development of petroleum industry and the exception of exploitation situation are severe, at present using raising recovery ratio, exploitation hardly possible
/ difficult-to-produce reserves are adopted, oil surplus resources and the special economics Margin reservoir such as hypotonic, ultra-thin, viscous crude and super-viscous oil are developed, and
The scarce resources such as shale gas, coal bed gas；With deep-well/ultradeep well vertical drilling exploitation deep formation and deep water sea area.Steerable drilling
Technology is the important means to solve the above problems.
The real-time measurement of underground dynamic attitude parameter (hole angle, azimuth and tool face azimuth) is that guide drilling tool can
Realize the precondition for being oriented to control in real time.Therefore, real-time that underground attitude parameter is measured, accurate in drilling engineering
Property and the requirement that measures of continuous, dynamic it is higher and higher.However the nearly drill bit of down-hole equipment is by directly bearing drill bit broken rock when institute
The judder of generation and drill string rotating vibration so that sensor output signal mixes a large amount of interference and noise, leads to posture
Parameter measurement is inaccurate.
Domestic and international guide drilling tool attitude parameter measurement mostly uses static measurement method greatly, i.e. drilling tool does not rotate, is depressed
In the case of dynamic, attitude parameter measurement is carried out.Inertial survey technique and earth's magnetic field are presently mainly used for reference, using three axis accelerometer
Or three axis magnetometer is individually completed, or both simple combination, the gravity field component of three accelerometer measures earth, three magnetic strength
Meter measures the geomagnetic field component of the earth.Although this method disclosure satisfy that the requirement of attitude measurement accuracy, but with sacrifice cost and
Drilling well timeliness exchanges attitude measurement accuracy for, either borrows inertial survey technique and is based on earth's magnetic field or gyroscope, to sensor
Simple combination measurement is carried out, is influenced by nearly drill bit, sensor output error is larger, causes to measure inaccurate or even can not survey.
Invention content
The purpose of the present invention is to provide the measurement method of the drilling tool attitude measurement system based on Fusion,
To solve the above problems.
To achieve the above object, the present invention uses following technical scheme：
The measurement method of drilling tool attitude measurement system based on Fusion, wherein being based on multi-sensor data
The drilling tool dynamic attitude measurement system of fusion includes drilling tool, three axis accelerometer, three axis fluxgates, angular rate gyroscope and part
Filter；Three axis accelerometer, three axis fluxgates and angular rate gyroscope are installed on drilling tool, three axis accelerometer, three axis
Fluxgate and angular rate gyroscope are separately installed with local filter；Drilling tool dynamic posture based on Fusion is surveyed
The measurement method of amount system includes the following steps：
Step 1：The geographic coordinate system that ideal quadrature is established in attitude measurement system, according to Euler's theorem, underground drilling
In the process, any posture of the drilling tool in space can be indicated with relative to a series of rotations of geographic coordinate system, the angle of rotation
Degree is hole angle, azimuth and tool face azimuth；According to the definition of quaternary number and Euler's theorem, three dimensions and space-time are joined
System gets up, with the rotational motion of a rigid body with a fixed point problem in quaternary number property and operation rule the research three dimensions of space-time；
Step 2：For drilling tool installation three axis accelerometer, three axis fluxgates and angular rate gyroscope, steerable drilling is realized
Tool attitude integration measures, and combines the nonlinear mathematical model for establishing multisensor, dynamic measurement system, obtains nonlinear state
Equation and measurement equation；
Step 3：According to nearly drill vibration characteristics of signals, drilling tool motion state, analysis drilling tool motion state and vibration are judged
The main interference factors of relationship and drill string vibration between acceleration；According to model and noise characteristic, local filter is respectively adopted
Wave device filters out interference signal using Unscented kalman filtering algorithm, eliminates nearly drill bit strong vibration and measures attitude parameter
Influence, global estimation is carried out using Data-Fusion theory, and then obtain optimum attitude estimation；
Step 4：Estimated using optimum attitude, filtered sensor parameters is subjected to posture Online Integer, to obtain
The filtered accurate attitude parameter of guide drilling tool.
Further, it includes following that part filter, which eliminates influence of the nearly drill bit strong vibration to dynamic attitude measurement, in step 3
Step：
Step 1：To state equation and measurement equation progress discretization based on quaternary number；
Step 2：In first layer, 3-axis acceleration signal, three axis fluxgate signals and angular rate gyroscope signal lead to respectively
Three local filters, respectively First partial filter, the second local filter and third local filter are crossed, with parallel
Mode obtains its local optimum state estimationAnd error covariance matrix
Step 3：In the second layer, application matrix weighted fusion algorithm algorithm melts obtained local state estimated value
It closes, obtains the global best estimates of system mode；Assuming that the state that First partial filter and the second local filter obtain is estimated
Value isWithUnder linear minimum variance principle, global optimum's state estimation of system mode isAt this point,Error covariance matrix be less thanWithError covariance matrix, that is, be exactly
Global optimum's state estimation of system mode is
Local state valuationWithBetween Cross-covarianceIt is passed with following
Push away form
Step 4：According to fusion local state valuation, and then seek strong vibration rotary tools system global optimum state estimation
Method；If the State Estimation that N number of local filter obtains is respectivelyCorresponding error covariance
Matrix is respectively(namely),WithBetween Cross-covariance beNote It is passed based on matrix weights more
Sensor system mode global best estimates are
Wherein, wi(i=1,2 ..., N) is best initial weights matrix, can be calculate by the following formula
Further, attitude parameter Dynamic Extraction is sat according to geographic coordinate system to drilling tool coordinate system in third layer
After mark conversion, hole angle θ and tool face azimuth φ can be obtained：
According to formula (5) steerable drilling work is obtained by the global best estimates value obtained after filtering by drilling tool attitude algorithm
Has dynamic attitude parameter.
Further, the geographic coordinate system is northeast day coordinate system, and rotating square is determined to by the right-hand rule.
Compared with prior art, the present invention has following technique effect：
The present invention is based on the modelings of multi-freedom posture sensor and matrix weights multisensor Data Fusion technology, for the first time
Parallel processing manner carry out office is used using three three axis accelerometer, three axis fluxgates and angular rate gyroscope sensor parameters
Portion filters, and then uses data fusion to multisensor measurement parameter, obtains global best estimates.Nearly drill bit strong vibration signal is special
Sign analysis and posture information extractive technique, by judging the nearly drill bit movement state of guide drilling tool, for nearly drill bit to dynamic
Interference is eliminated in the influence of attitude measurement, realizes that attitude measurement information accurately extracts.
Matrix weights data anastomosing algorithm proposed by the present invention overcomes standard without handling local state estimation
The defect of UKF algorithms, and without being reset to local filter by globalstate estimation, therefore with stronger fault-tolerant
Property.
Description of the drawings
Fig. 1 is the strong vibration rotary tools dynamic measurement system based on matrix weights Fusion in the present invention
Structure chart.
Fig. 2 is the attitude angle under geographic coordinate system and drilling tool coordinate system.
In attached drawing 2：H is horizontal plane, and V is hole deviation plane, and P represents drilling tool cross section.ψ is azimuth, and θ is hole deviation
Angle, φ are tool face azimuth." E-N-U " representative " northeast day ".XYZ is drilling tool coordinate system.
Specific implementation mode
Below in conjunction with attached drawing, the present invention is further described：
It please refers to Fig.1 and Fig. 2, the measurement method of the drilling tool attitude measurement system based on Fusion, wherein
Drilling tool dynamic attitude measurement system based on Fusion includes drilling tool, three axis accelerometer, three axis fluxgates, angle
Rate gyroscope and local filter；Three axis accelerometer, three axis fluxgates and angular rate gyroscope are installed on drilling tool, and three
Axis accelerometer, three axis fluxgates and angular rate gyroscope are separately installed with local filter；Based on Fusion
The measurement method of drilling tool dynamic attitude measurement system include the following steps：
Step 1：The geographic coordinate system that ideal quadrature is established in attitude measurement system, according to Euler's theorem, underground drilling
In the process, any posture of the drilling tool in space can be indicated with relative to a series of rotations of geographic coordinate system, the angle of rotation
Degree is hole angle, azimuth and tool face azimuth；According to the definition of quaternary number and Euler's theorem, three dimensions and space-time are joined
System gets up, with the rotational motion of a rigid body with a fixed point problem in quaternary number property and operation rule the research three dimensions of space-time；
Step 2：For drilling tool installation three axis accelerometer, three axis fluxgates and angular rate gyroscope, steerable drilling is realized
Tool attitude integration measures, and combines the nonlinear mathematical model for establishing multisensor, dynamic measurement system, obtains nonlinear state
Equation and measurement equation；
Step 3：According to nearly drill vibration characteristics of signals, drilling tool motion state, analysis drilling tool motion state and vibration are judged
The main interference factors of relationship and drill string vibration between acceleration；According to model and noise characteristic, local filter is respectively adopted
Wave device filters out interference signal using Unscented kalman filtering algorithm, eliminates nearly drill bit strong vibration and measures attitude parameter
Influence, global estimation is carried out using Data-Fusion theory, and then obtain optimum attitude estimation；
Step 4：Estimated using optimum attitude, filtered sensor parameters is subjected to posture Online Integer, to obtain
The filtered accurate attitude parameter of guide drilling tool.
Part filter is eliminated influence of the nearly drill bit strong vibration to dynamic attitude measurement and is included the following steps in step 3：
Step 1：To state equation and measurement equation progress discretization based on quaternary number；
Step 2：In first layer, 3-axis acceleration signal, three axis fluxgate signals and angular rate gyroscope signal lead to respectively
Three local filters, respectively First partial filter, the second local filter and third local filter are crossed, with parallel
Mode obtains its local optimum state estimationAnd error covariance matrix
Step 3：In the second layer, application matrix weighted fusion algorithm algorithm melts obtained local state estimated value
It closes, obtains the global best estimates of system mode；Assuming that the state that First partial filter and the second local filter obtain is estimated
Value isWithUnder linear minimum variance principle, global optimum's state estimation of system mode isAt this point,Error covariance matrix be less thanWithError covariance matrix, that is, be exactly
Global optimum's state estimation of system mode is
Local state valuationWithBetween Cross-covarianceIt is passed with following
Push away form
Step 4：According to fusion local state valuation, and then seek strong vibration rotary tools system global optimum state estimation
Method；If the State Estimation that N number of local filter obtains is respectivelyCorresponding error covariance
Matrix is respectively(namely),WithBetween Cross-covariance beNote It is more based on matrix weights
Sensing system state global best estimates are
Wherein, wi(i=1,2 ..., N) is best initial weights matrix, can be calculate by the following formula
Attitude parameter Dynamic Extraction, in third layer, after carrying out coordinate conversion according to geographic coordinate system to drilling tool coordinate system,
Hole angle θ and tool face azimuth φ can be obtained：
According to formula (5) steerable drilling work is obtained by the global best estimates value obtained after filtering by drilling tool attitude algorithm
Has dynamic attitude parameter.
The geographic coordinate system is northeast day coordinate system, and rotating square is determined to by the right-hand rule.
Claims (4)
1. the measurement method of the drilling tool attitude measurement system based on Fusion, which is characterized in that based on more sensings
The drilling tool dynamic attitude measurement system of device data fusion includes drilling tool, three axis accelerometer, three axis fluxgates, angular rate gyroscope
And filter；Three axis accelerometer, three axis fluxgates, angular rate gyroscope and filter are installed on drilling tool, and three axis accelerate
Degree meter, three axis fluxgates and angular rate gyroscope are separately connected corresponding filter；Based on Fusion
The measurement method of drilling tool dynamic attitude measurement system includes the following steps：
Step 1：The geographic coordinate system that ideal quadrature is established in attitude measurement system, according to Euler's theorem, underground drilling process
In, any posture of the drilling tool in space can indicate that the angle of rotation is with relative to a series of rotations of geographic coordinate system
Hole angle, azimuth and tool face azimuth；According to the definition of quaternary number and Euler's theorem, three dimensions and space-time are contacted
Come, with the rotational motion of a rigid body with a fixed point problem in quaternary number property and operation rule the research three dimensions of space-time；
Step 2：For drilling tool installation three axis accelerometer, three axis fluxgates and angular rate gyroscope, guide drilling tool is realized
Attitude integration measures, and combines the nonlinear mathematical model for establishing multisensor, dynamic measurement system, obtains nonlinear state equation
And measurement equation；
Step 3：According to nearly drill vibration characteristics of signals, judge that drilling tool motion state, analysis drilling tool motion state accelerate with vibration
The main interference factors of relationship and drill string vibration between degree；According to model and noise characteristic, local filter is respectively adopted,
Interference signal is filtered out using Unscented kalman filtering algorithm, eliminates the shadow that nearly drill bit strong vibration measures attitude parameter
It rings, global estimation is carried out using matrix weights Data-Fusion theory, and then obtain optimum attitude estimation；
Step 4：Estimated using optimum attitude, filtered sensor parameters is subjected to posture Online Integer, to be filtered
The accurate attitude parameter of guide drilling tool afterwards.
2. the measurement method of the drilling tool attitude measurement system according to claim 1 based on Fusion,
It is characterized in that, part filter is eliminated influence of the nearly drill bit strong vibration to dynamic attitude measurement and included the following steps in step 3：
Step 1：To state equation and measurement equation progress discretization based on quaternary number；
Step 2：In first layer, 3-axis acceleration signal, three axis fluxgate signals and angular rate gyroscope signal pass through three respectively
A local filter, respectively First partial filter, the second local filter and third local filter, in a parallel fashion
Obtain its local optimum state estimationAnd error covariance matrix
Step 3：In the second layer, application matrix weighted fusion algorithm algorithm merges obtained local state estimated value,
Obtain the global best estimates of system mode；Assuming that the State Estimation that First partial filter and the second local filter obtain isWithUnder linear minimum variance principle, global optimum's state estimation of system mode isAt this point,
Error covariance matrix be less thanWithError covariance matrix, that is, be exactly
Global optimum's state estimation of system mode is
Local state valuationWithBetween Cross-covarianceWith following recursion shape
Formula
Step 4：According to fusion local state valuation, and then seek the side of strong vibration rotary tools system global optimum state estimation
Method；If the State Estimation that N number of local filter obtains is respectivelyCorresponding error co-variance matrix point
It is not(namely),WithBetween
Cross-covariance beNote It is more based on matrix weights
Sensing system state global best estimates are
Wherein, wi(i=1,2 ..., N) is best initial weights matrix, can be calculate by the following formula
3. the measurement method of the drilling tool attitude measurement system according to claim 2 based on Fusion,
It is characterized in that, attitude parameter Dynamic Extraction, in third layer, coordinate conversion is carried out according to geographic coordinate system to drilling tool coordinate system
Afterwards, hole angle θ and tool face azimuth φ can be obtained：
It is dynamic to obtain guide drilling tool by the global best estimates value obtained after filtering by drilling tool attitude algorithm according to formula (5)
State attitude parameter.
4. the measurement method of the drilling tool attitude measurement system according to claim 1 based on Fusion,
It is characterized in that, the geographic coordinate system is northeast day coordinate system, and rotating square is determined to by the right-hand rule.
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| CN110440746A (en) * | 2019-08-05 | 2019-11-12 | 桂林电子科技大学 | A kind of no-dig technique subterranean drill bit posture fusion method based on the decline of quaternary number gradient |
| CN112302536A (en) * | 2020-10-16 | 2021-02-02 | 安徽中勘钻探工程有限公司 | Intelligent directional drilling system and directional drilling method thereof |
| CN112963093A (en) * | 2021-01-26 | 2021-06-15 | 长江大学 | Attitude dynamic measurement and calculation method of rotary steering drilling tool |
| CN113153270A (en) * | 2021-04-27 | 2021-07-23 | 西南石油大学 | Measurement-while-drilling method for near-bit dynamic well inclination angle and tool face angle |
| CN113255577A (en) * | 2021-06-18 | 2021-08-13 | 中铁大桥科学研究院有限公司 | Active control intelligent data processing method for construction vibration parameters of cable-stayed bridge |
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| CN110308300A (en) * | 2019-06-27 | 2019-10-08 | 厦门盈趣科技股份有限公司 | A kind of rotating speed measurement method and device merging multifrequency nature data |
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| CN110440746A (en) * | 2019-08-05 | 2019-11-12 | 桂林电子科技大学 | A kind of no-dig technique subterranean drill bit posture fusion method based on the decline of quaternary number gradient |
| CN112302536A (en) * | 2020-10-16 | 2021-02-02 | 安徽中勘钻探工程有限公司 | Intelligent directional drilling system and directional drilling method thereof |
| CN112963093A (en) * | 2021-01-26 | 2021-06-15 | 长江大学 | Attitude dynamic measurement and calculation method of rotary steering drilling tool |
| CN113153270A (en) * | 2021-04-27 | 2021-07-23 | 西南石油大学 | Measurement-while-drilling method for near-bit dynamic well inclination angle and tool face angle |
| CN113255577A (en) * | 2021-06-18 | 2021-08-13 | 中铁大桥科学研究院有限公司 | Active control intelligent data processing method for construction vibration parameters of cable-stayed bridge |
| CN113464050A (en) * | 2021-06-24 | 2021-10-01 | 成都理工大学 | Gas drilling method for smart mine and robot system thereof |
| CN113464050B (en) * | 2021-06-24 | 2023-08-08 | 成都理工大学 | Gas drilling method and robot system for intelligent mine |
| CN117514146A (en) * | 2024-01-04 | 2024-02-06 | 陕西太合智能钻探有限公司 | Logging system and logging method |
| CN117514146B (en) * | 2024-01-04 | 2024-03-22 | 陕西太合智能钻探有限公司 | Logging system and logging method |
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