CN109356568B - Calibration method for inclinometer probe tube sensor - Google Patents

Calibration method for inclinometer probe tube sensor Download PDF

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CN109356568B
CN109356568B CN201810856854.8A CN201810856854A CN109356568B CN 109356568 B CN109356568 B CN 109356568B CN 201810856854 A CN201810856854 A CN 201810856854A CN 109356568 B CN109356568 B CN 109356568B
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degrees
calibration
inclinometer probe
fluxgate
sensor
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CN109356568A (en
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刘庆
吴雨萱
吴俊杰
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Shengli College China University of Petroleum
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP 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

Abstract

The invention belongs to the field of Measurement While Drilling (MWD) engineering, and particularly relates to a method for calibrating a inclinometer probe sensor. The method comprises the following effective steps: a. selecting an acceleration sensor with the sensitivity of less than 1mg of an acceleration sensor at room temperature and a fluxgate with the sensitivity of less than 5nT of the fluxgate at room temperature on a framework of the inclinometer probe tube as sensors of the inclinometer probe tube; b. constructing a calibration mathematical model and a formula of the inclinometer probe sensor; c. calculating calibration coefficients of the acceleration sensor and the fluxgate, bringing the calculated calibration coefficients into a calibration mathematical model of the inclinometer probe sensor, randomly placing an instrument posture, further obtaining well deviation, direction and tool face calculation values, and verifying the accuracy of the calibration coefficients according to the values; d. and writing the calibration coefficient into an inclinometer probe memory to finish the calibration of the inclinometer probe sensor. The inclinometer probe sensor calibration method provided by the invention greatly reduces the workload of hardware calibration and improves the accuracy of the attitude measurement of the drilling tool under the oil drilling well.

Description

Calibration method for inclinometer probe tube sensor
Technical Field
The invention belongs to the field of Measurement While Drilling (MWD) engineering, and particularly relates to a method for calibrating a inclinometer probe sensor.
Background
The energy industry, especially the petroleum energy industry, is one of the national life industries, and each country has high attention. Currently, in the oil and gas exploration and development, the global oil and gas exploration and development target is developing from a vertical well to a directional well and a horizontal well, and from a shallow layer to a deep layer and an ultra-deep layer. Foreign relevant literature indicates that the number of new horizontal wells put into production in north america on land exceeds the number of conventional wells for the first time in the middle stage of 2009. Offshore drilling at home and abroad is limited by high daily cost of drilling machines, and most drilled oil wells are horizontal wells. It should also be noted that other highly deviated wells, or specially designed wells, such as bumper wells, communication wells, etc., may also require MWD assistance.
The technology is different day by day, and higher requirements are provided for the performance of MWD instruments, such as high precision. MWD has become a particularly important part of oil drilling engineering systems, and downhole data acquisition is becoming more important. The inclinometer is the most prominent measuring instrument in an MWD system, with 3 acceleration sensors and 3 fluxgates being the most common inclinometer sensor configuration. The sensor sensitive axis is not orthogonal and the offset error is the main beam source of the inclinometer probe error in MWD. There are two methods for solving the installation error, one is to correct the installation error on hardware and adjust the installation error to be orthogonal as much as possible; the other is to adopt a compensation method on software. In practical application, even if three acceleration sensors and three fluxgate sensors are carefully adjusted, errors caused by mounting reasons, measurement vision and the like cannot be avoided, and deviation caused by non-orthogonality of sensitive axes can not be avoided. In addition, the influences of zero drift, sensor internal interference and the like exist, so that a large error exists between the measured value and the actual value of the same gravity field or magnetic field of the three-axis sensor in different forms.
Disclosure of Invention
Aiming at the technical problems of the inclinometer probe in use, the invention provides the calibration method of the inclinometer probe sensor, which has the advantages of reasonable design, simple method, convenient calculation and accurate calibration.
In order to achieve the purpose, the invention adopts the technical scheme that: the invention provides a method for calibrating a sensor of an inclinometer probe, which comprises the following effective steps:
a. selecting an acceleration sensor with the sensitivity of less than 1mg of an acceleration sensor at room temperature and a fluxgate with the sensitivity of less than 5nT of the fluxgate at room temperature on a framework of the inclinometer probe tube as sensors of the inclinometer probe tube;
b. the construction of a calibration mathematical model of the inclinometer probe sensor and a formula are as follows:
Figure RE-GDA0001939608140000021
Figure RE-GDA0001939608140000022
wherein Gx, Gy and Gz are the original outputs of the acceleration sensor, Gx ', Gy' and Gz 'are the outputs of the acceleration sensor after calibration, Bx, By and Bz are the original outputs of the fluxgate, Bx', By 'and Bz' are the outputs of the fluxgate after calibration, GKx0, GKxx, GKxy, GKxz, GKy0, GKyx, GKyy, GKyz, GKz0, GKzx, GKzy, GKzz, BKzz, BKzx 0, BKxx, BKxy, BKxz, BKy0, BKyx, BKyy, BKyz, BKz0, BKzx, BKzy and BKzz are the calibration coefficients of the acceleration sensor and the fluxgate;
c. calculating calibration coefficients of the acceleration sensor and the fluxgate, bringing the calculated calibration coefficients into a calibration mathematical model of the inclinometer probe sensor, randomly placing an instrument posture, further obtaining well deviation, direction and tool face calculation values, and verifying the accuracy of the calibration coefficients according to the values;
d. and writing the calibration coefficient into an inclinometer probe memory to finish the calibration of the inclinometer probe sensor.
Preferably, in the step b, a calculation formula of calibration coefficients of the acceleration sensor and the fluxgate is as follows:
Figure RE-GDA0001939608140000031
Figure RE-GDA0001939608140000032
Figure RE-GDA0001939608140000033
Figure RE-GDA0001939608140000034
Figure RE-GDA0001939608140000035
Figure RE-GDA0001939608140000036
Figure RE-GDA0001939608140000037
Figure RE-GDA0001939608140000038
Figure RE-GDA0001939608140000039
Figure RE-GDA00019396081400000310
Figure RE-GDA00019396081400000311
Figure RE-GDA00019396081400000312
Figure RE-GDA00019396081400000313
Figure RE-GDA00019396081400000314
Figure RE-GDA00019396081400000315
Figure RE-GDA00019396081400000316
Figure RE-GDA00019396081400000317
Figure RE-GDA00019396081400000318
Figure RE-GDA00019396081400000319
Figure RE-GDA00019396081400000320
Figure RE-GDA00019396081400000321
Figure RE-GDA00019396081400000322
Figure RE-GDA00019396081400000323
Figure RE-GDA00019396081400000324
wherein alpha is the local magnetic inclination angle, GmN (m is x, y, z; N is 1-6) is the original output of the acceleration sensor under a series of different postures of the inclinometer pipe, and BmN (m is x, y, z; N is 1-6) is the original output of the fluxgate under a series of different postures of the inclinometer pipe.
Preferably, the GmN (m ═ x, y, z; N ═ 1 to 6), the bnn (m ═ x, y, z; N ═ 1 to 6) has the following values:
(1) the tool face is 90 degrees, the well inclination is 0 degree, the orientation is 180 degrees, and values are Gx1, Gy1, Gz1, Bx1, By1 and Bz 1;
(2) the tool face is 270 degrees, the well deviation is 180 degrees, the position is 180 degrees, and values are Gx2, Gy2, Gz2, Bx2, By2 and Bz 2;
(3) the tool face is 270 degrees, the well deviation is 90 degrees, the orientation is 180 degrees, and values are Gx3, Gy3, Gz3, Bx3, By3 and Bz 3;
(4) the tool face is 90 degrees, the well deviation is 90 degrees, the orientation is 180 degrees, and values are Gx4, Gy4, Gz4, Bx4, By4 and Bz 4;
(5) the tool face is 180 degrees, the well deviation is 90 degrees, the orientation is 180 degrees, and values are Gx5, Gy5, Gz5, Bx5, By5 and Bz 5;
(6) the tool face is 0 degree, the well deviation is 90 degrees, the orientation is 180 degrees, and values are Gx6, Gy6, Gz6, Bx6, By6 and Bz 6.
Compared with the prior art, the invention has the advantages and positive effects that,
1. the invention provides a method for calibrating a inclinometer probe sensor, which utilizes a constructed inclinometer probe sensor calibration mathematical model and formula to ensure that a sensor sensitive axis and an instrument coordinate system coordinate axis can realize accurate coaxiality after the inclinometer probe sensor is calibrated, thereby improving the original method for calibrating the inclinometer probe, greatly reducing the workload of hardware calibration and improving the accuracy of attitude measurement of an oil drilling downhole drilling tool.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described with reference to the following examples. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments of the present disclosure.
Embodiment 1, this embodiment provides a method for calibrating a inclinometer probe sensor
Firstly, in order to ensure the accuracy of data acquisition, the sensitivity of an acceleration sensor and a fluxgate which are arranged on an inclinometer pipe is less than 1mg at room temperature, the sensitivity of the fluxgate is less than 5nT, and the above standard is selected to obtain more accurate numbers as much as possible;
the data transmitted by the three acceleration sensors (labeled x, y, z in this example) and the three fluxgates (labeled x, y, z in this example) at different attitudes of the inclinometer within a series is then collected.
In the embodiment, the tool face is selected to be 90 degrees, the well deviation is 0 degree, the orientation is 180 degrees, and data Gx1, Gy1, Gz1, Bx1, By1 and Bz1 are obtained; selecting a tool face of 270 degrees, a well deviation of 180 degrees and a direction of 180 degrees to obtain data Gx2, Gy2, Gz2, Bx2, By2 and Bz 2; selecting a tool face with the angle of 270 degrees, the well deviation of 90 degrees and the orientation of 180 degrees to obtain data Gx3, Gy3, Gz3, Bx3, By3 and Bz 3; selecting a tool face with 90 degrees, a well deviation with 90 degrees and a direction with 180 degrees to obtain data Gx4, Gy4, Gz4, Bx4, By4 and Bz 4; selecting a tool face with 180 degrees, a well deviation of 90 degrees and a direction of 180 degrees to obtain data Gx5, Gy5, Gz5, Bx5, By5 and Bz 5; selecting the tool face with the angle of 0 degree, the well deviation with the angle of 90 degrees and the orientation with the angle of 180 degrees to obtain data Gx6, Gy6, Gz6, Bx6, By6 and Bz 6.
In this embodiment, an nth inclinometer probe in an eastern certain oil production area is used as an experimental object, and transmission data obtained by the inclinometer probe are as follows:
table 1: specific attitude sensor output
Figure RE-GDA0001939608140000051
According to the data, combining the magnetic inclination angle of the east-camp local area, through the formula:
Figure RE-GDA0001939608140000061
Figure RE-GDA0001939608140000062
Figure RE-GDA0001939608140000063
Figure RE-GDA0001939608140000064
Figure RE-GDA0001939608140000065
Figure RE-GDA0001939608140000066
Figure RE-GDA0001939608140000067
Figure RE-GDA0001939608140000068
Figure RE-GDA0001939608140000069
Figure RE-GDA00019396081400000610
Figure RE-GDA00019396081400000611
Figure RE-GDA00019396081400000612
Figure RE-GDA00019396081400000613
Figure RE-GDA00019396081400000614
Figure RE-GDA00019396081400000615
Figure RE-GDA00019396081400000616
Figure RE-GDA00019396081400000617
Figure RE-GDA00019396081400000618
Figure RE-GDA00019396081400000619
Figure RE-GDA00019396081400000620
Figure RE-GDA00019396081400000621
Figure RE-GDA00019396081400000622
Figure RE-GDA00019396081400000623
Figure RE-GDA00019396081400000624
calculating to obtain calibration coefficients of the acceleration sensor and the fluxgate;
Figure RE-GDA0001939608140000071
Figure RE-GDA0001939608140000072
Figure RE-GDA0001939608140000073
Figure RE-GDA0001939608140000074
then, calibrating a mathematical model and formula according to the inclinometer probe sensor
Figure RE-GDA0001939608140000075
Figure RE-GDA0001939608140000076
Obtaining:
Figure RE-GDA0001939608140000077
Figure RE-GDA0001939608140000078
then, randomly selecting 10 postures, checking the calibration coefficient,
TABLE 2 calibrated calibration results
Figure RE-GDA0001939608140000081
The results are shown in Table 2. The well deviation error is less than +/-0.1 degrees, the azimuth error is less than +/-0.2 degrees, and the use requirements of the measurement-while-drilling instrument are combined, so that the algorithm is proved to be effective.
And finally, writing the calibration coefficient into an inclinometer probe memory to finish the calibration of the inclinometer probe sensor. It should be noted that the mathematical formula or model provided in this embodiment may be applied to software, so as to facilitate and speed calculation.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.

Claims (2)

1. A method for calibrating a sensor of an inclinometer probe is characterized by comprising the following steps:
a. selecting an acceleration sensor with the sensitivity of less than 1mg of an acceleration sensor at room temperature and a fluxgate with the sensitivity of less than 5nT of the fluxgate at room temperature on a framework of the inclinometer probe tube as sensors of the inclinometer probe tube;
b. the construction of a calibration mathematical model of the inclinometer probe sensor and a formula are as follows:
Figure FDA0003520076080000011
Figure FDA0003520076080000012
wherein Gx, Gy and Gz are the original outputs of the acceleration sensor, Gx ', Gy' and Gz 'are the outputs of the acceleration sensor after calibration, Bx, By and Bz are the original outputs of the fluxgate, Bx', By 'and Bz' are the outputs of the fluxgate after calibration, GKx0, GKxx, GKxy, GKxz, GKy0, GKyx, GKyy, GKyz, GKz0, GKzx, GKzy, GKzz, BKzz, BKzx 0, BKxx, BKxy, BKxz, BKy0, BKyx, BKyy, BKyz, BKz0, BKzx, BKzy and BKzz are the calibration coefficients of the acceleration sensor and the fluxgate;
c. calculating calibration coefficients of the acceleration sensor and the fluxgate, bringing the calculated calibration coefficients into a calibration mathematical model of the inclinometer probe sensor, randomly placing an instrument posture, further obtaining well deviation, direction and tool face calculation values, and verifying the accuracy of the calibration coefficients according to the values;
d. and b, writing the calibration coefficient into an inclinometer probe memory to finish the calibration of the inclinometer probe sensor, wherein in the step b, the calculation formula of the calibration coefficients of the acceleration sensor and the fluxgate is as follows:
Figure FDA0003520076080000021
Figure FDA0003520076080000022
Figure FDA0003520076080000023
Figure FDA0003520076080000024
Figure FDA0003520076080000025
Figure FDA0003520076080000026
Figure FDA0003520076080000027
Figure FDA0003520076080000028
Figure FDA0003520076080000029
Figure FDA00035200760800000210
Figure FDA00035200760800000211
Figure FDA00035200760800000212
Figure FDA00035200760800000213
Figure FDA00035200760800000214
Figure FDA00035200760800000215
Figure FDA00035200760800000216
Figure FDA00035200760800000217
Figure FDA00035200760800000218
Figure FDA00035200760800000219
Figure FDA00035200760800000220
Figure FDA00035200760800000221
Figure FDA00035200760800000222
Figure FDA00035200760800000223
Figure FDA00035200760800000224
wherein alpha is the local magnetic inclination angle, GmN (m is x, y, z; N is 1-6) is the original output of the acceleration sensor under a series of different postures of the inclinometer pipe, and BmN (m is x, y, z; N is 1-6) is the original output of the fluxgate under a series of different postures of the inclinometer pipe.
2. The method for calibrating the inclinometer probe sensor according to claim 1, wherein the GmN (m is x, y, z; N is 1-6) and the value of BmN (m is x, y, z; N is 1-6) is as follows:
(1) the tool face is 90 degrees, the well inclination is 0 degree, the orientation is 180 degrees, and values are Gx1, Gy1, Gz1, Bx1, By1 and Bz 1;
(2) the tool face is 270 degrees, the well deviation is 180 degrees, the position is 180 degrees, and values are Gx2, Gy2, Gz2, Bx2, By2 and Bz 2;
(3) the tool face is 270 degrees, the well deviation is 90 degrees, the orientation is 180 degrees, and values are Gx3, Gy3, Gz3, Bx3, By3 and Bz 3;
(4) the tool face is 90 degrees, the well deviation is 90 degrees, the orientation is 180 degrees, and values are Gx4, Gy4, Gz4, Bx4, By4 and Bz 4;
(5) the tool face is 180 degrees, the well deviation is 90 degrees, the orientation is 180 degrees, and values are Gx5, Gy5, Gz5, Bx5, By5 and Bz 5;
(6) the tool face is 0 degree, the well deviation is 90 degrees, the orientation is 180 degrees, and values are Gx6, Gy6, Gz6, Bx6, By6 and Bz 6.
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