CN109209346A - A method of reducing irregular oscillation influences continuous gyroscopic survey instrument precision - Google Patents
A method of reducing irregular oscillation influences continuous gyroscopic survey instrument precision Download PDFInfo
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- CN109209346A CN109209346A CN201811326118.8A CN201811326118A CN109209346A CN 109209346 A CN109209346 A CN 109209346A CN 201811326118 A CN201811326118 A CN 201811326118A CN 109209346 A CN109209346 A CN 109209346A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000010361 irregular oscillation Effects 0.000 title claims abstract description 12
- 238000005259 measurement Methods 0.000 claims abstract description 10
- 230000001133 acceleration Effects 0.000 claims abstract description 9
- 239000013307 optical fiber Substances 0.000 claims abstract description 7
- 238000001914 filtration Methods 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 8
- 238000005070 sampling Methods 0.000 claims description 8
- 230000003068 static effect Effects 0.000 claims description 7
- 238000002715 modification method Methods 0.000 claims description 6
- 238000012360 testing method Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 4
- 239000003129 oil well Substances 0.000 claims description 4
- 238000011156 evaluation Methods 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 claims description 2
- 238000013499 data model Methods 0.000 claims description 2
- 239000010453 quartz Substances 0.000 claims description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 2
- 230000001788 irregular Effects 0.000 abstract description 4
- 230000007423 decrease Effects 0.000 abstract description 3
- 230000009467 reduction Effects 0.000 abstract description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
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- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Geophysics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses a kind of methods that reduction irregular oscillation influences continuous gyroscopic survey instrument precision, this method utilizes 3-axis acceleration information and the angular velocity information of combination optical fibre gyro Z axis, the interference outside instrument attitude measurement is rejected, to improve the measurement accuracy of continuous gyroscopic survey instrument comprehensively.This method is able to solve continuous gyroscopic survey instrument and the problem of irregular collision causes accuracy of instrument to decline occurs with tubing and casing during upper go into the well.
Description
Technical field
The present invention relates to the applications for applying gyrolevel to carry out continuous dynamic test trails in a kind of oil well logging industry.
Background technique
Caused due to tube or cased well breakage, deformation, wax deposition etc. gyrolevel in upper motion process of going into the well with pipe
Irregular collision occurs for wall, transports in the angular movement of inertial space and linearly to the sensitive instrumentation of optical fibre gyro and accelerometer composition
Dynamic to interfere, the well track for clearing of navigating in continuous motion process can introduce error, so as to cause accuracy of instrument decline.Often
The gyrolevel seen only simply carries out low-pass filtering to 3-axis acceleration information and smoothly obtains new acceleration information, filters
The band logical frequency of wave device is fixed, attenuation coefficient and filter order fixation can not change according to hole condition, and method is simple and crude.It is practical
The speed gone into the well in the instrument course of work is impossible really at the uniform velocity constant, while random variation can also occur with oil jacket tube wall
Impact force, the interference changed at random will necessarily be brought, to acceleration information so as to cause the azimuth and tool-face cleared out
Angle error is very big, and precision is also more far short of what is expected than fixed point gyrolevel.
Summary of the invention
The object of the invention is that solve, instrument cannot achieve uniform motion in oil well and tube wall incrustation deformation is irregular
Caused by random posture vibratory impulse influence, the side that a kind of reduction irregular oscillation influences continuous gyroscopic survey instrument precision is provided
Method.
Method of the invention is that this method is using 3-axis acceleration information and the angular speed of optical fibre gyro Z axis to be combined to believe
Breath rejects the interference outside instrument attitude measurement.
Moreover, this method is to constitute inclinometer using double-shaft optical fiber gyroscope and three axis quartz accelerometers, it is used using strapdown
Guiding method realizes the real-time measurement of instrument posture and speed, to obtain hole angle, azimuth and tool face azimuth；And utilize oil
Well track can not mutate within certain distance, establish data model and reject random disturbances, to effectively improve instrument
Measuring accuracy.
Wherein, to accelerometer signal and gyro signal not instead of not simply low-pass filtering treatment, according to external environment
Sef-adapting filter is established in variation.
The present invention specifically includes calibration modeling and modification method；The calibration modeling includes location position, angular speed calibration
It is demarcated with random vibration.
Wherein, location position above-mentioned is to determine that the calibration factor of table, installation is added to miss using the method for static 8 location positions
Difference and gyro and the installation error for adding table, complete the calibration to whole system.
Angular speed calibration above-mentioned is according to the variation range of continuous gyroscopic survey instrument angular speed during upper go into the well point
Not She Ding high-precision electric turntable speed, then it is two axis of gyro are horizontal fixed respectively, record the output of two axis gyros；
Error coefficient is found out according to gyro error output equation, to show that the constant value drift of gyro, scale factor and gyro installation miss
Difference.
Random vibration calibration above-mentioned is to be fixed on continuous gyroscopic survey instrument on three axis electric vibration tables with fixture, simulation
Instrument is arranged to random vibration mode in the situation of movement of tube or cased well, according to minimal sampling time interval continuous sampling data；
The vibration of electric vibration table interval is spaced static alternate cycles；Gyroscope and accelerometer are analyzed in difference by the data of acquisition
Input noise characteristic under vibration condition, model determines the band connection frequency coefficient range of filter according to the collected data
With the scale factor of vibration frequency.
Modification method above-mentioned is using denoising is forced in the selection of filtering algorithm, and continuous gyroscopic survey instrument is selecting
By time domain evaluation error in judgement characteristic in rate of going into the well on fixed variation range；Continuous gyroscopic survey instrument occurs in tube or cased well
Attitude range is about scheduled on signal specific amplitude range within the unit time, is adjusted and is carried out in conjunction with random vibration peg model
Fuzzy comparability identification, to have the function that the extraneous vibration interference for rejecting accelerometer and gyroscope.
The innovation of the invention consists in that:
(1), to accelerometer signal and gyro signal not instead of not simply low-pass filtering treatment, become according to external environment
Sef-adapting filter is established in change.
(2), the selection of angular speed calibration turntable rate and the foundation of gyroscope error model.
(3), the establishment of random vibration scaling method and the foundation of error model.
(4), modification method.
Compared with prior art, method of the invention using 3-axis acceleration information and combines the angle of optical fibre gyro Z axis fast
Information is spent, the interference outside instrument attitude measurement is rejected, to improve the measurement accuracy of continuous gyroscopic survey instrument comprehensively.This method energy
It enough solves continuous gyroscopic survey instrument and causes asking for accuracy of instrument decline with the irregular collision of tubing and casing generation during upper go into the well
Topic.
The present invention is the mark fixed sum data processing method summed up for many years to the practical experience of oil field necessary instrument.Calibration ginseng
Several selections is also one of its core, while being designed using adaptive Real Time Digital Filter, bandpass center frequency f0, excessive band
Wide coefficient ct, band logical side frequency fp=(1+n) * f0, band logical cutoff frequency wp=fp* 2 and stopband side frequency fs=fp*(1+ct) etc. bases
The variation of external condition adjusts, and by carrying out analysis de-noising to signal, minimizes the distortion factor of signal.
Specific embodiment
Below with reference to embodiment, the invention will be further described, but not as any limitation of the invention.
Embodiment 1:
1. calibration modeling
1) location position
The installation for adding calibration factor, installation error and the gyro of table and adding table is determined using the method for static 8 location positions
Error completes the calibration to whole system.The specific layout in 8 positions are as follows:
| X-Y-Z | Terrestrial gravitation |
| Northeast day | 0 0 -g |
| Southwestern day | 0 0 -g |
| East northeast | 0 0 g |
| Southern west ground | 0 0 g |
| Its southwest | -g 0 0 |
| Its northeast | -g 0 0 |
| Ground Nan Xi | g 0 0 |
| Ground east northeast | g 0 0 |
When location position, in each position, static testing acceleration meter exports average value fi, obtain the recurrence meter of accelerometer
Calculate model:
By the output model of accelerometer:
F=a0+Kaab
It is denoted as:
F=MA
In formula,
F=[f1 f2 … f8]TFor the output of a certain axis accelerometer,For terrestrial gravitation plus
Speed input.Each parameter computation model of accelerometer then can be obtained according to Least square-fit:
M=FAT·(AAT)-1
2) angular speed is demarcated
According to continuous gyroscopic survey instrument, high precision electro turn is set separately in the variation range of angular speed during upper go into the well
The speed of platform be ± 0.05 °/s, ± 0.1 °/s, ± 0.2 °/s, ± 0.5 °/s, ± 1 °/s, ± 2 °/s, ± 5 °/s, ± 10 °/s,
± 20 °/s, ± 30 °/s, then two axis of gyro are horizontal fixed respectively, the output of two axis gyros is recorded, the sampling time presses
It is determined according to 360 ° divided by turntable rate, chronomere s, the sampling time corresponds to range (7200~12) s.It is defeated according to gyro error
Equation finds out error coefficient out, to obtain the constant value drift of gyro, scale factor and gyro misalignment.Gyroscope exports mould
Type are as follows:
In formula:
Dx、DyAnd DzIt is constant value drift, N for gyrox、NyAnd NzFor gyroscope output, Kx、KyAnd KzFor gyroscope scale
Factor, kijFor the installation error of gyro i axis and j axis, ωiFor the input angular velocity of gyro i axis, in the present invention, due to inclinometer
Only X and Z axis gyro, so the amount in relation to Y-axis gyro is set as 0.Finally, through-rate test data, which is fitted, to be obtained
Obtain each coefficient entry in relation to gyro.
3) random vibration is demarcated
Continuous gyroscopic survey instrument is fixed on three axis electric vibration tables with fixture, movement of the analog meter in tube or cased well
Situation, the swing displacement along instrument X, Y-axis is 0~(casing diameter-instrument diameters)/2mm, longitudinal to consider trembling for logging cable
Swinging displacement is 0~20mm, and acceleration is 0~3g, and frequency is that 5Hz~100Hz is arranged to random vibration mode, is adopted according to minimum
Sample time 0.5ms interval continuous sampling data.Electric vibration table operating mode is set as the vibration of 5s multiple interval, 5s multiple interval
Static alternate cycles, stream time 30min.Gyroscope and accelerometer are analyzed in different vibrator bars by the data of acquisition
Input noise characteristic under part, model determines band connection frequency coefficient range and the vibration of filter according to the collected data
The scale factor of frequency.
2. modification method
Using forcing denoising in the selection of filtering algorithm, continuous gyroscopic survey instrument rate of going into the well on selected becomes
Change and presses time domain evaluation error in judgement characteristic in range.The attitude range that continuous gyroscopic survey instrument occurs in tube or cased well is in list
It is about scheduled on signal specific amplitude range in the time of position, is adjusted in conjunction with random vibration peg model and carries out fuzzy comparability identification,
To have the function that reject the extraneous vibration interference of accelerometer and gyroscope.
Signal measurement model are as follows:
C is the measurement factor of signal, and v (k) is the external interference noise on signal superposition, and test discovery, inclinometer is even
Under continuous working condition, the mean value of external interference noise is zero, variance σ2, then recursive estimation filter can be designed are as follows:
Formula first item is the estimated data that sensor weights under current pose, and Section 2 is that sensor is currently adopted in real time
Sample data, the method for solving of a (k) and b (k) in formula are as follows:
A (k)=a [1-cb (k)]
Wherein:
According to the attitude data of a sampling instant on instrument, the posture of subsequent time can be estimated, passes through the posture estimated
It can be concluded that gyroscope and accelerometer estimate output data in the case where this estimates posture, estimated data and test data carried out
Recursive filtering obtains the credible measured value of sensor, and bringing the confidence values into attitude algorithm algorithm can be obtained instrument posture.
It is above specific application example of the invention, there are other embodiments of the invention, all to use equivalent replacement
Or the technical solution that equivalent transformation is formed, it all falls within protection scope of the presently claimed invention.
Claims (8)
1. a kind of method for reducing irregular oscillation influence continuous gyroscopic survey instrument precision, it is characterised in that: this method is to utilize
3-axis acceleration information and the angular velocity information for combining optical fibre gyro Z axis reject the interference outside instrument attitude measurement.
2. the method according to claim 1 for reducing irregular oscillation influence continuous gyroscopic survey instrument precision, feature exist
In: this method is to constitute inclinometer using double-shaft optical fiber gyroscope and three axis quartz accelerometers, is realized using inertial navigation method
The real-time measurement of instrument posture and speed, to obtain hole angle, azimuth and tool face azimuth；And using oil well track one
It can not mutate within set a distance, establish data model and reject random disturbances, to effectively improve instrument test precision.
3. the method according to claim 1 for reducing irregular oscillation influence continuous gyroscopic survey instrument precision, feature exist
In: to accelerometer signal and gyro signal not instead of not simply low-pass filtering treatment, according to external environment variation establish from
Adaptive filter.
4. the method according to claim 1 for reducing irregular oscillation influence continuous gyroscopic survey instrument precision, feature exist
In: including calibration modeling and modification method；The calibration modeling includes location position, angular speed calibration and random vibration calibration.
5. the method according to claim 4 for reducing irregular oscillation influence continuous gyroscopic survey instrument precision, feature exist
In: the location position is to utilize determining calibration factor, installation error and the gyro for adding table of method of static 8 location positions and add
The installation error of table completes the calibration to whole system.
6. the method according to claim 4 for reducing irregular oscillation influence continuous gyroscopic survey instrument precision, feature exist
In: the angular speed calibration is that height is set separately in the variation range of angular speed during upper go into the well according to continuous gyroscopic survey instrument
The speed of precision electric turntable, then two axis of gyro are horizontal fixed respectively, record the output of two axis gyros；According to gyro
Error output equation finds out error coefficient, to obtain the constant value drift of gyro, scale factor and gyro misalignment.
7. the method according to claim 4 for reducing irregular oscillation influence continuous gyroscopic survey instrument precision, feature exist
In: the random vibration calibration is to be fixed on continuous gyroscopic survey instrument on three axis electric vibration tables with fixture, and analog meter exists
The situation of movement of tube or cased well is arranged to random vibration mode, according to minimal sampling time interval continuous sampling data；Electronic vibration
Dynamic platform interval vibration is spaced static alternate cycles；Gyroscope and accelerometer are analyzed in different vibrator bars by the data of acquisition
Input noise characteristic under part, model determines band connection frequency coefficient range and the vibration of filter according to the collected data
The scale factor of frequency.
8. the method according to claim 4 for reducing irregular oscillation influence continuous gyroscopic survey instrument precision, feature exist
In: the modification method is using denoising is forced in the selection of filtering algorithm, and continuous gyroscopic survey instrument is upper what is selected
By time domain evaluation error in judgement characteristic in rate of going into the well variation range；Continuous gyroscopic survey instrument becomes in the posture that tube or cased well occurs
Change range and be about scheduled on signal specific amplitude range within the unit time, carries out fuzzy phase in conjunction with the adjustment of random vibration peg model
It is identified like property, to have the function that the extraneous vibration interference for rejecting accelerometer and gyroscope.
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Application publication date: 20190115 |