CN109882157A - The optical fiber inertial navigation system and its data processing method of underground multi-component measurements instrument - Google Patents
The optical fiber inertial navigation system and its data processing method of underground multi-component measurements instrument Download PDFInfo
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- CN109882157A CN109882157A CN201910280115.3A CN201910280115A CN109882157A CN 109882157 A CN109882157 A CN 109882157A CN 201910280115 A CN201910280115 A CN 201910280115A CN 109882157 A CN109882157 A CN 109882157A
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Abstract
The present invention discloses the optical fiber inertial navigation system and its data processing method of a kind of underground multi-component measurements instrument, applied to technical field of geophysical exploration, in order to solve the problems, such as real-time direction and location of existing underground multi -components geophysical survey instrument during working continuously；The present invention includes: optical fiber inertial navigation positioning and orientation system, underground multi -components geophysical survey instrument and ground multi-way contral and data acquisition subsystem；The underground multi -components geophysical survey instrument includes multi-component sensor；The optical fiber inertial navigation positioning and orientation system is fixed on by multi-component sensor, and when multi-component sensor work, optical fiber inertial navigation positioning and orientation system records real time position, speed and the posture information real-time azimuthal of multi-component sensor in real time；Furthermore the data processing method mentioned through the invention can obtain the data distribution or variation of point position various dimensions, greatly reduce the nonuniqueness of single Geophysical Data Processing explanation results.
Description
Technical field
The invention belongs to technical field of geophysical exploration, in particular to a kind of light of underground multi -components geophysical instrument
Fine inertial navigation orientation and corresponding data processing technique.
Background technique
At present widely used downhole cable logger in industry, connector for logging while drilling, seismic instrument etc. all divides in well
Not Cai Yongliao three-component electromagnetism, three-component gravity, three-component magnetic field and 3-component earthquake sensor, these instruments are in underground work
When real-time direction and location function never be fully solved, without the real-time direction and location of underground multi -components Instrument sensor
Data, later period have no idea to carry out the multi-component data that underground acquires rotation and correction process.Currently used three-component appearance
State sensor basically can not be in magnetic Steel Casing or in steel drill collar normally because magnetic field sensor has been used
Work.We are badly in need of finding the real-time direction and location for solving underground multi -components geophysical survey instrument during working continuously
The scheme of problem.
Inertial navigation system (English: INS-Inertial Navigation System) is to be with gyro and accelerometer
The navigational parameter resolving system of Sensitive Apparatus, which establishes navigational coordinate system according to the output of gyro, defeated according to accelerometer
Speed and position of the carrier in navigational coordinate system are calculated out.
Inertial navigation system is also referred to as inertial reference system, is one kind independent of external information, also not to external radiation
The autonomic navigation system of energy (as radionavigation).Its working environment not only includes aerial, ground, can also be in water
Under.The basic functional principle of inertial navigation is to pass through measurement carrier adding in inertial reference system based on Newton mechanics law
It integrates the time, and it is transformed in navigational coordinate system by speed, it will be able to obtain the speed in navigational coordinate system
The information such as degree, yaw angle and position.
Inertial navigation system belongs to the navigation mode that calculates, i.e., navigates from the position of a known point according to the movable body continuously measured
Go out the position of its next point to angle and speed calculation, thus can continuously measure the current location of movable body.In inertial navigation system
Gyroscope be used to form a navigational coordinate system, stablize the measurement axis of accelerometer in the coordinate system, and provide course
And attitude angle；Accelerometer is used to measure the acceleration of movable body, obtains speed by the primary integral to the time, speed passes through again
It crosses and displacement can be obtained to the primary integral of time.
Modern relatively common several airmanships, including celestial navigation, inertial navigation, satellite navigation, radionavigation
Etc., wherein only inertial navigation is autonomous, neither outwardly radiates thing, without seeing the aerial fixed star in day or reception
External signal, its concealment is best.
In many strategies of country, tactical weapon, for another example in the navigation of aircarrier aircraft of intercontinental flight etc., it is necessary to rely on
The combination of inertial navigation system or inertial navigation system and other kinds of navigation system.Its cost is also more expensive, as one
The inertial navigation system of navigation grade (i.e. 1 hour 1 nautical mile of error), at least wants hundreds of thousands, and the navigation system of this precision is matched enough
On the standby aircraft as Boeing-747.Now, with the progress of MEMS (microelectromechanical systems) inertia device technology, quotient
Industry grade, the inertial navigation for consuming grade just gradually come into common people house.
Inertial navigation system has the following advantages: 1, since it is not dependent on any external information, also not to external radiation
The self-contained system of energy, therefore good concealment, are not also influenced by outside electromagnetic interference；2, it can temporally work round-the-clock, entirely
In aerial, earth surface or even under water；3, position, speed, course and attitude angle data can be provided, generated navigation information connects
Continuous property is good and noise is low；4, data updating rate height, short-term accuracy and stability are good.
The disadvantage is that: 1, it due to navigation information by integral is generated, position error increases at any time, long-term accuracy
Difference；2, the longer initial alignment time is needed before each use；3, the price of equipment is costly；4, time letter cannot be provided
Breath.
But inertial navigation has fixed drift rate, will cause the error of object of which movement in this way, therefore the weapon of far firing range would generally
Amendment is timed to inertial navigation using instruction, GPS etc., continues accurate location parameter to obtain.Inertial navigation system has been sent out at present
Put on display the various ways such as flexible inertial navigation, optical fiber inertial navigation, laser inertial, micro- solid-state inertia type instrument.Gyroscope is by traditional coiling top
Spiral shell develops to electrostatic gyroscope, laser gyro, optical fibre gyro, micromechanical gyro etc..Laser gyro measurement dynamic range is wide, the linearity
Good, performance is stablized, and has good temperature stability and repeatability, always in occupation of leading position in high-precision application field
It sets.Due to scientific and technological progress, it is future that lower-cost optical fibre gyro (FOG) and micromechanical gyro (MEMS) precision are higher and higher
The direction of gyroscope technology development.
Optical fibre gyro is a kind of fibre optical sensor for inertial navigation, because of its no-movable part --- high speed rotor claims
For solid-state gyroscope.This novel all solid state gyroscope will become following leading products, have extensive development prospect and
Application prospect.The working principle of optical fibre gyro is based on Sagnac (Sagnac) effect.Sagnac effect is relative inertness
The universal correlation effect of one kind of propagated light in the closed loop optical path of spatial rotational, i.e., from same light source in same closure optical path
The equal light of the two beam features issued, is propagated in a reverse direction, finally converges to same sensing point.
If the axis of plane where perpendicular to closure optical path, there is rotational angular velocities in relative inertness space, then positive and negative
The light path that the light beam that direction is propagated is passed by is different, just generates optical path difference, and optical path difference is directly proportional to the angular speed of rotation.Thus only
It is to be understood that the information of optical path difference and corresponding phase difference, can be obtained angular velocity of rotation.
Compared with electro-mechanical gyro or laser gyro, optical fibre gyro is had a characteristic that
(1) components are few, instrument firm stable, the ability with stronger shock resistance and anti-accelerated motion；
(2) optical fiber of coiling is longer, and detection sensitivity and resolution ratio lasergyro is made to improve several orders of magnitude；
(3) without mechanical transmission component, wear problem is not present, thus there is longer service life；
(4) it is easy to using integrated optics technique, signal stabilization, and can directly uses numeral output, and joins with computer interface
It connects；
(5) the circulating propagation number by the length or light of change optical fiber in coil, may be implemented different precision, and
With wider dynamic range；
(6) propagation time of coherent beam is short, thus can start moment in principle, without preheating；
(7) it can be used together with ring laser gyro, constitute the sensor of various inertial navigation systems, especially strapdown inertia
The sensor of system；
(8) structure is simple, price is low, small in size, light-weight.
Optical fibre gyro is in number of patent application are as follows: 201410832135.5,201820019320.5,201410599074.1,
201610810893.5,201710561353.2,200910073220.6,201620080843.1,201410080780.5 etc.
Good application has been obtained in application.
But optical fiber inertial navigation system cannot provide temporal information.
Summary of the invention
In order to solve the problems, such as real-time direction and location of underground multi -components geophysical survey instrument during working continuously,
The invention proposes a kind of optical fiber inertial navigation positioning and orientation systems of underground multi -components geophysical survey instrument, by more in underground
In component geophysical survey instrument install optical fiber inertial navigation positioning and orientation system, to underground multi -components geophysical survey instrument into
The real-time positioning and directing of row provides important support data for the multi -components Geophysical Data Processing explanation of underground survey.
For the optical fiber inertial navigation positioning and orientation system multi -components collected of underground multi -components geophysical survey instrument
Ball physical data, the present invention also propose a kind of data processing method, it can be achieved that subsurface geological structure, petroleum resources, metallic ore
Produce the integrated exploration and multiple parameter overall assessment of resource, groundwater resources and engineering geology demand.
One of the technical solution adopted by the present invention are as follows: a kind of optical fiber inertial navigation of underground multi -components geophysical survey instrument is fixed
Position orientation system, comprising: optical fiber inertial navigation positioning and orientation system, underground multi -components geophysical survey instrument and ground multichannel
Control & data acquisition subsystem；The underground multi -components geophysical survey instrument includes multi-component sensor；The optical fiber
Inertial navigation positioning and orientation system is fixed on by multi-component sensor, when multi-component sensor work, optical fiber inertial navigation positioning and directing system
System records real time position, speed and the posture information of multi-component sensor in real time；
When underground multi -components geophysical survey instrument and ground multi-way contral and data acquisition subsystem communicate to connect
When, the multi -components geophysical data of actual measurement is uploaded to ground by the multi-component sensor of underground multi -components geophysical survey instrument
Face Control & data acquisition processing subsystem, optical fiber inertial navigation positioning and orientation system is by the real-time position of the multi-component sensor of actual measurement
It sets, speed and posture information upload to ground Control & data acquisition processing subsystem；
When underground multi -components geophysical survey instrument is not communicated with ground multi-way contral and data acquisition subsystem
When connection, include at least: the multi-component sensor of memory and time service module, underground multi -components geophysical survey instrument will be real
The multi -components geophysical data storage of survey is in memory；Optical fiber inertial navigation positioning and orientation system is by the multi-component sensor of actual measurement
Real time position, speed and posture information stored in memory after timing device time service；When underground multi -components geophysics is surveyed
After measuring appratus takes out from underground, the data in memory are transmitted to ground multi-way contral and data acquisition subsystem；
The communication connection is connected especially by armouring optoelectronic composite cable.
Wherein, the underground multi -components geophysical survey communicated to connect with ground multi-way contral and data acquisition subsystem
Instrument, further includes: photoelectric conversion circuit, 32 analog to digital conversion circuits, the multi -components of underground multi -components geophysical survey instrument
Sensor is connected with 32 analog to digital conversion circuit input terminals, and optical fiber inertial navigation positioning and orientation system passes through photoelectric conversion circuit and 32
Analog to digital conversion circuit input terminal is connected, and 32 analog to digital conversion circuit output ends are connected with memory；32 analog-to-digital conversion electricity
Road output end is also connected with photoelectric conversion circuit input terminal, and the photoelectric conversion circuit output end links armouring optoelectronic composite cable.
The underground multi -components geophysical survey instrument communicated to connect with ground multi-way contral and data acquisition subsystem
Emit three-component array received induction logging instrument for underground three-component, comprising: underground multi -components tool housing, three-component electromagnetism
Transmitting coil, three-component electromagnetism receiving coil and ll vertical electric field component sensor；Optical fiber inertial navigation positioning and orientation system is mounted on
Between three-component Electromagnetic Launching coil and array three-component electromagnetism receiving coil；The ll vertical electric field component sensor output connects
32 analog to digital conversion circuit input terminals；The ll vertical electric field component sensor is realized using unpolarizable electrode.
The underground multi -components geophysical survey instrument communicated to connect with ground multi-way contral and data acquisition subsystem
For single level array formula Comprehensive Geophysics data collection system, comprising: underground multi -components tool housing, three-component gravity sensor
With three-component magnetic field sensor；Optical fiber inertial navigation positioning and orientation system is mounted on three-component gravity sensor and three-component magnetic field sensing
Between device.
The underground multi -components geophysical survey instrument communicated to connect with ground multi-way contral and data acquisition subsystem
It is acquired for multiple stage array formula Comprehensive Geophysics data collection system, including several single level array formula Comprehensive Geophysics data
System, several single level array formula Comprehensive Geophysics data collection systems series connection.
The optical fiber inertial navigation positioning and orientation system is inertial navigation system, the resonance type optical fiber top that interferometric fiber optic gyroscope is constituted
The inertial navigation system of spiral shell instrument composition, the inertial navigation system of stimulated Brillouin scattering light fiber gyroscope composition, fiber-optic gyroscope strapdown inertial navigation system
One of system, fiber grating Strapdown Inertial Navigation System, optical fibre gyro and inertial navigation system of micromechanical gyroscope combination.
Another technical solution that the present invention uses are as follows: a kind of optical fiber inertial navigation of underground multi -components geophysical survey instrument is fixed
Position directional data processing method, comprising:
More points of S1, the underground multi -components geophysical survey instrument obtained according to optical fiber inertial navigation positioning and orientation system measurement
Inclination angle, azimuth and the tendency of quantity sensor carry out rotation processing to corresponding multi -components geophysical data；
S2, according to the multi -components geophysical data after step S1 rotation processing, extract in well related with resilient nature
Rock or three component seismic wave speed data, attenuation coefficient and the anisotropy coefficient on stratum extract related with electromagnetic property
Rock or the three-component resistivity data on stratum extract the three-component gravity value, close of related with gravity property rock or stratum
Parameter is spent, the three-component magnetic parameter on rock related with stratum magnetic properties or stratum is extracted；
S3, the three component seismic wave speed data according to step S2 extraction, three-component resistivity data, three-component gravity
Value, three-component magnetic field value carry out inversion imaging, the elastic parameter of rock or stratum within the scope of acquisition point position certain distance,
The regularity of distribution of electrical parameter, density value and magnetic field strength.
Step S1 specifically:
S11, the three-component geophysical data value of measurement is rotated to the position that inclination angle is zero degree；
S12, the postrotational three-component geophysical data value of step S11 is rotated to by orientation according to the azimuth of this measuring point
Angle is the position of zero degree；
S13, the trend if necessary to three-component geophysical data be rotated to known geologic body or set profile direction,
Then when carrying out the rotation processing of horizontal component, the rotation of horizontal component on ground need to will be only parallel to one of horizontal component
Azimuth and geologic body trend or set section direction angle be zero position.
Beneficial effects of the present invention: system of the invention provides the real-time direction and location that two schemes solve underground survey
Problem is adopted when there is armouring optoelectronic composite cable to connect underground multi -components geophysical survey instrument with ground multi-way contral and data
When subsystem communicates, by by the real-time position of collected multi -components geophysical data and optical fiber inertial navigation positioning and orientation system
It sets, speed and posture information, it is real through armouring optoelectronic composite cable real-time Transmission to ground multi-way contral and data acquisition subsystem
Now to the real-time direction and location of multi -components geophysical survey instrument；When with bore multi -components geophysical survey instrument there is no armouring
When optoelectronic composite cable is connected to ground multi-way contral and data acquisition subsystem and communicates, by by the collected multi -components earth
Real time position, speed and the posture information of physical data and optical fiber inertial navigation positioning and orientation system, and to optical fiber inertial navigation positioning and directing
System real time position, speed and posture information carry out time service, and multi -components geophysics survey in underground is stored in after being handled together
In memory in measuring appratus, the real-time direction and location to multi -components geophysical survey instrument is realized；The present invention has following
Advantage:
1, underground three-component electromagnetic logging instrument, multipole or three-component acoustic logging instrument, three-component magnetic field can be made to survey
Well instrument, three-component borehole gravity instrument, earthquake data acquisition instrument in three-component well, with boring three-component electromagnetism or three-component sound
Wave or 3-component earthquake instrument etc. recorded in real time in downhole data Collecting operation each three component sensor real-time azimuthal and
Location coordinate information handles convenient for follow-up data and explains work；
2, underground three-component Electromagnetic Launching and array three-component magnetic field and ll vertical electric field component synchronous acquisition；
3, the multi-component data that different depth position acquires is carried out at rotation projection according to the positioning and directing data of actual measurement
Reason；
4, to three-component seismic data, three-component and controllable source electromagnetic data, three-component gravimetric data in the well measured
Mutually constraint inverting or joint inversion are carried out with three-component magnetic field data, ground texture in point position a certain range can be obtained
Make, in rock speed, resistivity, density and magnetic mineral or blowhole fluid type more structurally sound distribution and variation,
Greatly reduce the nonuniqueness of single Geophysical Data Processing explanation results；
5, armouring optoelectronic composite cable is not had to be connected to ground multi-way contral sum number in multi -components geophysical survey instrument
When communicating according to acquisition subsystem, chip atomic clock or High Accuracy Constant Temperature crystal oscillator are used as more points of optical fiber inertial guidance data and acquisition
It measures data and carries out real-time time service.
Detailed description of the invention
Underground three-component Fig. 1 of the invention emits three-component array received induction logging instrument structural schematic diagram；
Fig. 2 is underground single-stage Comprehensive Geophysics data collection system structural schematic diagram of the invention；
Fig. 3 is electromagnetism or Comprehensive Geophysics data collection system structural representation in down-hole multilevel array well of the invention
Figure；
Electromagnetism or Comprehensive Geophysics data collection system and ground dipole in down-hole multilevel array well Fig. 4 of the invention
Current source layout diagram；
Electromagnetism or Comprehensive Geophysics data collection system and ground loop line in down-hole multilevel array well Fig. 5 of the invention
Current source layout diagram；
Underground single-stage Comprehensive Geophysics gradient data acquisition system structural schematic diagram Fig. 6 of the invention；
Three-component transmitting three-component in underground Fig. 7 of the invention is received with brill induction logging instrument structural schematic diagram；
Underground three-component transmitting three-component array received induction logging instrument and ground control excitation Fig. 8 of the invention and number
According to reception system principle diagram.
Description of symbols: 1 is ground logger vehicle；2 be the ground launch vehicle for driving the big loop line transmitting coil in ground；
3 be optical fiber inertial navigation positioning and orientation system；4 be high temperature resistant High Accuracy Constant Temperature crystal oscillator or atomic clock chip；5 be connection underground multi -components
The armouring optoelectronic composite cable of instrument；6 be 32 analog to digital conversion circuits and memory for connecting optical fiber inertial navigation sensor device；7 are
Drilling well；11 emit three-component array received induction logging instrument shell for three-component；12 be three points of array induction logging instrument
Measure Electromagnetic Launching coil；14 be the three-component electromagnetism receiving coil of array induction logging instrument；15 be array induction logging instrument
Ll vertical electric field component reception use unpolarizable electrode；16 be ground high current source control excitation unit；17 be the control of ground multichannel
System and data receipt unit；21 be single-stage Comprehensive Geophysics data collection system shell；27 be three-component gravity sensor；28
For three-component magnetic field sensor；31 be photoelectric conversion module；41 be ground electric dipole current source transmitting antenna；51 be the big loop line in ground
Transmitting coil；61 be single-stage Comprehensive Geophysics gradient data acquisition system shell；67 be three-component gravity sensor；68 be three
Component magnetic field sensor；70 be connector for logging while drilling shell；71 be the fixed bracket of connector for logging while drilling inner sensor；72, with brill
Drilling mud passage inside logger；73 be the rock bit of connector for logging while drilling；74 be perpendicular magnetic component transmitting coil；
75 be horizontal component ofmagnetic field transmitting coil；76 be horizontal component ofmagnetic field transmitting coil；77 be perpendicular magnetic component receiving coil；78
For horizontal component ofmagnetic field receiving coil；79 be horizontal component ofmagnetic field receiving coil.
Specific embodiment
For convenient for those skilled in the art understand that technology contents of the invention, with reference to the accompanying drawing to the content of present invention into one
Step is illustrated.
The optical fiber inertial navigation positioning and orientation system of underground multi -components geophysical survey instrument of the invention, comprising: ground control
System and data acquisition process subsystem, borehole data transmission communication subsystem, underground multi -components geophysical survey instrument, underground
Four part of high temperature resistant high-precision optical fiber inertial navigation subsystem composition.High temperature resistant high-precision optical fiber inertial navigation subsystem is measured
Acceleration and angular speed when underground multi -components geophysical survey instrument moves, is resolved by inertia system, obtains well
The acceleration and angular speed information of lower multi -components geophysical survey instrument, by connecting underground multi -components geophysical survey instrument
Data are uploaded to ground Control & data acquisition processing subsystem by the optoelectronic composite cable of device, via ground Control & data acquisition
The information that processing subsystem uploads optical fiber inertial navigation subsystem is handled, and obtains underground multi -components geophysical survey instrument
Real-time position, speed and posture information of the device in data Collecting operation.The present invention takes full advantage of high temperature resistant high-precision light
Fine inertial navigation sensing technology, has: strong antijamming capability, high reliablity, and measurement accuracy is high, and real-time is high, and error is smaller,
Not by mine shaft depth, situation in pit shaft, underground contains magnetic Steel Casing, containing magnetic steel drill collar, boom hoist cable or armouring light
The advantages that influence of photoelectric compound cable skidding, elastic elongation, wriggling etc..
This gives five kinds of ways of realization of underground multi -components geophysical survey instrument: as shown in Figure 1 respectively
Underground three-component emit three-component array received induction logging instrument structure, the comprehensive earth object of underground single-stage as shown in Figure 2
Manage data collection system, multiple stage array formula Comprehensive Geophysics data collection system as shown in Figure 3, single-stage as shown in FIG. 6
Comprehensive Geophysics gradient data acquisition system, three-component transmitting three-component as shown in Figure 7 are received with brill induction logging instrument.
Emit the instrument structural representation of three-component array received induction logging as shown in Figure 1 for underground three-component of the invention
Figure, comprising: underground three-component transmitting three-component array received induction logging instrument shell 11, three points of array induction logging instrument
Measure Electromagnetic Launching coil 12, optical fiber inertial navigation positioning and orientation system 3, the three-component electromagnetism receiving coil of array induction logging instrument
14, the ll vertical electric field component of array induction logging instrument, which receives, uses unpolarizable electrode 15, connects the armouring of underground multi -components instrument
Optoelectronic composite cable 5.
Optical fiber inertial navigation positioning and orientation system 3 is mounted on three-component Electromagnetic Launching coil 12 and array three-component electromagnetism receives line
Between circle 14, for real-time measurement record underground three-component transmitting three-component array received induction logging instrument in operation process
In all measuring points real-time azimuthal and location coordinate information, and by armouring optoelectronic composite cable 5 the three-component emit three points
The underground three-component inductive electromagnetic data that amount array received induction logging instrument measures upload to the well logging of well head in real time together
It is stored in computer in instrument cab 1, convenient in subsequent data processing.
As shown in Fig. 2, underground single-stage Comprehensive Geophysics data collection system of the invention, comprising: underground single-stage is comprehensive
Geophysical data acquisition system shell 21, optical fiber inertial navigation positioning and orientation system 3 connect the armouring photoelectricity of underground multi -components instrument
Composite rope 5, three-component gravity sensor 27 and three-component magnetic field sensor 28.
The three-component gravity that optical fiber inertial navigation positioning and orientation system 3 is mounted on single-stage Comprehensive Geophysics data collection system passes
Between sensor 27 and three-component magnetic field sensor 28, for real-time measurement record underground single-stage Comprehensive Geophysics data acquisition system
The real-time azimuthal and location coordinate information for all measuring points united in operation process, and by armouring optoelectronic composite cable 5 array
The underground three-component electromagnetic induction data that induction logging instrument measures upload in real time together in the logger vehicle 1 of well head
It is stored in computer, is convenient for subsequent data processing.
As shown in figure 3, multiple stage array formula Comprehensive Geophysics data collection system of the invention, includes at least 2 single-stages
Comprehensive Geophysics data collection system, multiple single-stage Comprehensive Geophysics data collection system series connection.
Logger shown in Fig. 1,2,3 further include: 32 analog to digital conversion circuits and memory 6, photoelectric conversion module 31,
Collected signal is converted into digital signal and synchronized to be stored in inside memory by 32 analog to digital conversion circuits, simultaneously will
Digital signal after conversion is transformed into optical signal by photoelectric conversion module 31, then will be converted using armouring optoelectronic composite cable 5
The multi-way contral and data receipt unit 17 on optical signal transmission afterwards to ground carry out quality monitoring.
Two kinds of ground electric dipole current source cloth of multiple stage array formula Comprehensive Geophysics data collection system are provided in the present embodiment
If mode, it is respectively as follows: ground electric dipole current source transmitting antenna 41 as shown in Figure 4, emits with the big loop line in ground as shown in Figure 5
Coil 51；It is real when the electric dipole current source transmitting antenna 41 of surface deployment or the big loop line transmitting coil 51 of surface deployment work
When measurement record down-hole multilevel array three-component gravity and the compound geophysical data acquisition instrument in three-component magnetic field in operation
The real-time azimuthal and location coordinate information of all measuring points in the process, and it is by armouring optoelectronic composite cable 5 that multiple stage array formula is comprehensive
The underground three-component gravity and three-component electromagnetic induction data that conjunction geophysical data acquisition system measures upload in real time together
It is stored in computer in the logger vehicle 1 of well head, is convenient for subsequent data processing.The big loop line of surface deployment is sent out
Ray circle 51 is driven by ground launch vehicle 2.
It is acquired for geophysics gradient data, the present invention is by taking single-stage Comprehensive Geophysics data collection system as an example, such as
Fig. 6 show underground single-stage Comprehensive Geophysics gradient data acquisition system of the invention, comprising: single-stage Comprehensive Geophysics ladder
Data collection system shell 61 is spent, optical fiber inertial navigation positioning and orientation system 3 connects the armouring optoelectronic composite cable of underground multi -components instrument
5, three-component gravity sensor 67 and three-component magnetic field sensor 68.It is comprehensive that optical fiber inertial navigation positioning and orientation system 3 is mounted on underground
Between three-component gravity sensor 67 and three-component magnetic field sensor 68 in geophysics gradient data acquisition system, for real
When all measuring points of the measurement record single-stage Comprehensive Geophysics gradient data acquisition system in operation process real-time azimuthal and
Location coordinate information, and underground single-stage Comprehensive Geophysics gradient data acquisition system is measured by armouring optoelectronic composite cable 5
To underground three-component gravity gradient and three-component magnetic gradient data upload to well head in real time together logger vehicle 1 in
It is stored in computer, is convenient for subsequent data processing.
As shown in fig. 7, three-component transmitting three-component in underground of the invention is received with brill induction logging instrument, comprising: with brill
Logger shell 70, the fixed bracket 71 of connector for logging while drilling inner sensor, connector for logging while drilling inside drilling mud passage 72,
The rock bit 73 of connector for logging while drilling, optical fiber inertial navigation positioning and orientation system 3 connect 32 moulds of optical fiber inertial navigation sensor device
Number conversion circuit and memory 6, high temperature resistant High Accuracy Constant Temperature crystal oscillator or chip-scale atomic clock 4, perpendicular magnetic component transmitting coil
74, first level magnetic-field component transmitting coil 75, the second horizontal component ofmagnetic field transmitting coil 76, perpendicular magnetic component receiving coil
77, first level magnetic-field component receiving coil 78, the second horizontal component ofmagnetic field receiving coil 79.
Optical fiber inertial navigation positioning and orientation system 3 is mounted on three-component and sends out with the three-component magnetic-field component bored in induction logging instrument
Between ray circle 74,75,76 and three-component magnetic field receiving coil 77,78,79, high temperature resistant High Accuracy Constant Temperature crystal oscillator or chip-scale are former
Secondary clock 4 is mounted on 3 lower section of optical fiber inertial navigation positioning and orientation system.Optical fiber inertial navigation positioning and orientation system 3 is for real-time measurement record three
Component connects light with the real-time azimuthal and location coordinate information for boring all measuring points of the induction logging instrument in drilling operation course
32 analog to digital conversion circuits and memory 6 of fine inertial navigation sensor device are by the underground multi -components geophysical data of actual measurement and survey
Real time position, speed and the posture information of multi-component sensor in measuring appratus are converted into digital signal by analog to digital conversion circuit
After be stored in memory, real time position, speed and the posture that high-precision constant-temperature crystal oscillator or chip-scale atomic clock are recorded to it
Information carries out time service.
With boring after instrument takes out in pit shaft, being stored in the underground bored inside multi -components geophysical survey instrument
The multi -components geophysical data of actual measurement, the real time position of multi-component sensor, speed and posture information are transferred to ground control
In data acquisition process subsystem, it is convenient for subsequent data processing.
For the present invention emits three-component array received induction logging instrument by underground three-component, to well logging of the invention
Instrument working principle is illustrated；It is three-component transmitting three-component array received induction logging in underground of the invention as shown in Figure 8
Instrument and ground control excitation and data receiving system functional block diagram.Include: optical fiber inertial navigation positioning and orientation system 3, connects underground
The armouring optoelectronic composite cable 5 of multi -components instrument is the three-component Electromagnetic Launching coil 12 of array induction logging instrument, array induction
Unpolarizable electrode is used in the ll vertical electric field component reception of the three-component electromagnetism receiving coil 14 of logger, array induction logging instrument
15, ground high current source control excitation unit 16, ground multi-way contral and data receipt unit 17, photoelectric conversion module 31 with
And 32 analog to digital conversion circuits of multichannel and memory 6；Its working principles are as follows: when three-component transmitting three-component array in underground connects
It receives when can start acquisition data to shaft bottom under induction logging instrument, the optical fiber inertial navigation positioning and orientation system that is mounted in the middle part of instrument
3 synchronize and start to measure and record downhole instrument real-time azimuthal, position and inclination angle at this time and be real-time transmitted to ground multichannel control
System and data receipt unit 17.Ground high current source control excitation unit 16 is started by armouring optoelectronic composite cable 5 to underground three
The three-component Electromagnetic Launching coil 12 of component transmitting three-component array received induction logging instrument sends the excitation pre-set
Electric current makes transmitting coil generate three-component excitation field, while the three-component electromagnetism receiving coil 14 of array induction logging instrument
Start primary (excitation) magnetic field signal of three-component caused by the synchronous exciting current for receiving the transmitting of three-component transmitting coil, at this time
The secondary induced current that stratum generates under three-component excitation field signal, secondary induced current produce in three-component receiving coil
Raw secondary induced magnetic field.The ll vertical electric field component reception unpolarizable electrode of array induction logging instrument is to 15 three points of measurements simultaneously
A vertical electric field signal caused by the excitation field of transmitting coil transmitting and stratum are measured in three-component excitation field signal
The signal in the secondary induced electricity flow field of lower generation.Three-component magnetic field sensor (coil) and ll vertical electric field component sensor (not pole
Polarizing electrode to) collected electromagnetic signal by 32 analog to digital conversion circuits of multichannel and memory 6 is converted into digital signal simultaneously
It synchronizes and is stored in inside memory, while the digital signal after conversion is transformed into optical signal by photoelectric conversion module 31, so
Afterwards using armouring optoelectronic composite cable 5 by the multi-way contral of the optical signal transmission after conversion to ground and data receipt unit 17 into
Row quality monitoring (QC) and storage in order to the later period processing.
Multi -components geophysical data in the present embodiment can be three-component controllable source electric field data, three-component controllable source
Magnetic field data, three-component resistivity data, three-component polarizability data, three-component gravimetric data, three-component magnetic field data, three points
Measure sonic data, three-component seismic data etc..
The high temperature resistant high-precision optical fiber inertial navigation unit can be interferometric fiber optic gyroscope (I-FOG) composition
Inertial navigation system, the stimulated Brillouin scattering light fiber gyroscope (B- that inertial navigation system, resonance type optical fiber gyro instrument (R-FOG) are constituted
FOG), inertial navigation system fiber-optic gyroscope strapdown inertial navigation system, fiber grating Strapdown Inertial Navigation System, optical fibre gyro and the micromechanics constituted
One of inertial navigation system of Gyro.
The present invention is by carrying out the acquisition of multi -components geophysical data to each measuring point in underground and in ipsilateral amount point position
Using high-precision optical fiber inertial navigation unit acquire inertial navigation data.Subsequent operator is by underground multi -components geophysics
Measuring instrument is moved to next pre-designed point position and carries out data Collecting operation until completing all measuring points in well
Data collection task.
The position that each more sensor may be implemented in positioning and orientation system of the invention is positioned in real time, in subsequent number
Rotation projection process is carried out to the multi-component data that different depth position acquires according to the positioning and directing data of actual measurement according to when processing；
Specific data handling procedure is as follows:
More points of S1, the underground multi -components geophysical survey instrument obtained according to optical fiber inertial navigation positioning and orientation system measurement
Inclination angle, azimuth and the tendency of quantity sensor carry out rotation processing to corresponding multi -components geophysical data；
Rotation processing is carried out to all multi -components geophysical datas of underground acquisition one by one, makes three-component geophysics number
According to vertical component perpendicular to level ground, it is north-south that two horizontal components, which will become a horizontal component, another is horizontal
Component is East and West direction.Or so that a horizontal component is parallel to geologic body trend or set profile direction by rotation processing, separately
One horizontal component is then perpendicular to geologic body trend or profile direction and parallel to the ground.
S2, according to the multi -components geophysical data after step S1 rotation processing, extract in well related with resilient nature
Rock or three component seismic wave speed data, attenuation coefficient and the anisotropy coefficient on stratum extract related with electromagnetic property
Rock or the three-component resistivity data on stratum extract the three-component gravity value, close of related with gravity property rock or stratum
Parameter is spent, the three-component magnetic parameter on rock related with stratum magnetic properties or stratum is extracted；
By forward simulation and Inversion Calculation and etc. processing by three-component controllable source electricity in projection and postrotational well
Field data, three-component controllable source magnetic field data, three-component resistivity data, three-component polarizability data, three-component gravimetric data,
Three-component magnetic field data, three-component sonic data, three-component seismic data etc. can extract rock in well related with resilient nature
Stone or three component seismic wave speed data, attenuation coefficient and the anisotropy coefficient on stratum, rock related with electromagnetic property or
The three-component resistivity data on stratum, rock related with gravity property or stratum three-component gravimetric data, density parameter and with
The related rock of stratum magnetic properties or the three-component magnetic parameter on stratum.
S3, the three component seismic wave speed data according to step S2 extraction, three-component resistivity data, three-component gravity
Value, three-component magnetic field value carry out inversion imaging, the elastic parameter of rock or stratum within the scope of acquisition point position certain distance,
The regularity of distribution of electrical parameter, density value and magnetic field strength.
By the three component seismic wave velocity amplitude of each point position in underground, three-component resistivity value, three-component gravity value, three points
It measures magnetic field value and carries out inversion imaging, obtain the rock within the scope of point position certain distance or the elastic parameter on stratum, electrically join
The regularity of distribution of number, density value and magnetic field strength.
According to the regularity of distribution of the velocity amplitude of obtained rock or stratum, resistivity value, density value, realize to point position
The explanation and evaluation of geological structure, rock or stratum oily or high density mineral distribution characteristics and rule in a certain range.Root
According to the regularity of distribution of the magnetic field strength of obtained rock or stratum, realize magnetic to rock in point position a certain range or stratum
The explanation and evaluation of mineral distribution characteristics and rule.
At the optical fiber inertial navigation positioning and orientation system and data of underground multi -components geophysical survey instrument of the invention
Reason method, can make geological structure in larger scope below underground multi -components geophysical survey instrument detection point position,
The speed on rock stratum or stratum, resistivity, the regularity of distribution of density and magnetic mineral, can also improve the resolution to target geological body
Ability greatly reduces interference of the various human-made noises to Comprehensive Geophysics measurement data, improves Comprehensive Geophysics measurement
The signal-to-noise ratio of data, and the occurrence information on stratum can be provided, understand the spatial distribution state of high density or high magnetic geologic body, and
Realize the integrated interpretation to the speed of reservoir or mineral, resistivity, density and magnetic parameter and evaluation.To in the well measured three
Component earthquake data, three-component and controllable source electromagnetic data, three-component gravimetric data and three-component magnetic field data carry out mutually about
Beam inverting or joint inversion can obtain geological structure in point position a certain range, rock speed, resistivity, density and magnetic
The more structurally sound distribution and variation of fluid type, greatly reduce single Geophysical Data Processing in property mineral or blowhole
The nonuniqueness of explanation results.
At the optical fiber inertial navigation positioning and orientation system and data of underground multi -components geophysical survey instrument of the invention
Reason method, can make geological structure in larger scope below underground multi -components geophysical survey instrument detection point position,
The speed on rock stratum or stratum, resistivity, the regularity of distribution of density and magnetic mineral, can also improve the resolution to target geological body
Ability greatly reduces interference of the various human-made noises to Comprehensive Geophysics measurement data, improves Comprehensive Geophysics measurement
The signal-to-noise ratio of data, and the occurrence information on stratum can be provided, understand the spatial distribution state of high density or high magnetic geologic body, and
Realize the integrated interpretation to the speed of reservoir or mineral, resistivity, density and magnetic parameter and evaluation.To in the well measured three
Component earthquake data, three-component and controllable source electromagnetic data, three-component gravimetric data and three-component magnetic field data carry out mutually about
Beam inverting or joint inversion can obtain geological structure in point position a certain range, rock speed, resistivity, density and magnetic
The more structurally sound distribution and variation of fluid type, greatly reduce at single geophysical data in property mineral or blowhole
Manage the nonuniqueness of explanation results.
Those of ordinary skill in the art will understand that the embodiments described herein, which is to help reader, understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such specific embodiments and embodiments.For ability
For the technical staff in domain, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made
Any modification, equivalent substitution, improvement and etc. should be included within scope of the presently claimed invention.
Claims (8)
1. a kind of optical fiber inertial navigation positioning and orientation system of underground multi -components geophysical survey instrument characterized by comprising light
Fine inertial navigation positioning and orientation system, underground multi -components geophysical survey instrument and ground multi-way contral and data acquire subsystem
System；The underground multi -components geophysical survey instrument includes multi-component sensor；The optical fiber inertial navigation positioning and orientation system is solid
By multi-component sensor, when multi-component sensor work, optical fiber inertial navigation positioning and orientation system records multi -components biography in real time
Real time position, speed and the posture information of sensor；
When underground multi -components geophysical survey instrument and ground multi-way contral and data acquisition subsystem communicate to connect, well
The multi -components geophysical data of actual measurement is uploaded to ground control by the multi-component sensor of lower multi -components geophysical survey instrument
System and data acquisition process subsystem, optical fiber inertial navigation positioning and orientation system is by the real time position of the multi-component sensor of actual measurement, speed
Degree and posture information upload to ground Control & data acquisition processing subsystem；
When underground multi -components geophysical survey instrument is not communicated to connect with ground multi-way contral and data acquisition subsystem
When, include at least: memory and time service module, the multi-component sensor of underground multi -components geophysical survey instrument is by actual measurement
Multi -components geophysical data stores in memory；Optical fiber inertial navigation positioning and orientation system is by the reality of the multi-component sensor of actual measurement
When position, speed and posture information stored in memory after timing device time service；When underground multi -components geophysical survey instrument
After device takes out from underground, the data in memory are transmitted to ground multi-way contral and data acquisition subsystem；
The communication connection is connected especially by armouring optoelectronic composite cable.
2. a kind of optical fiber inertial navigation positioning and directing system of underground multi -components geophysical survey instrument according to claim 1
System, which is characterized in that the underground multi -components geophysics communicated to connect with ground multi-way contral and data acquisition subsystem is surveyed
Measuring appratus, further includes: photoelectric conversion circuit, 32 analog to digital conversion circuits, more points of underground multi -components geophysical survey instrument
Quantity sensor is connected with 32 analog to digital conversion circuit input terminals, and optical fiber inertial navigation positioning and orientation system passes through photoelectric conversion circuit and 32
Position analog to digital conversion circuit input terminal is connected, and 32 analog to digital conversion circuit output ends are connected with memory；32 analog-to-digital conversions
Circuit output end is also connected with photoelectric conversion circuit input terminal, and the photoelectric conversion circuit output end link armouring photoelectricity is compound
Cable.
3. a kind of optical fiber inertial navigation positioning and directing system of underground multi -components geophysical survey instrument according to claim 2
System, which is characterized in that the underground multi -components geophysics communicated to connect with ground multi-way contral and data acquisition subsystem is surveyed
Measuring appratus is that underground three-component emits three-component array received induction logging instrument, comprising: underground multi -components tool housing, three points
Measure Electromagnetic Launching coil, three-component electromagnetism receiving coil and ll vertical electric field component sensor；Optical fiber inertial navigation positioning and orientation system
It is mounted between three-component Electromagnetic Launching coil and array three-component electromagnetism receiving coil；The ll vertical electric field component sensor is defeated
32 analog to digital conversion circuit input terminals are terminated out；The ll vertical electric field component sensor is realized using unpolarizable electrode.
4. a kind of optical fiber inertial navigation positioning and directing system of underground multi -components geophysical survey instrument according to claim 2
System, which is characterized in that the underground multi -components geophysics communicated to connect with ground multi-way contral and data acquisition subsystem is surveyed
Measuring appratus is single level array formula Comprehensive Geophysics data collection system, comprising: underground multi -components tool housing, three-component gravity
Sensor and three-component magnetic field sensor；Optical fiber inertial navigation positioning and orientation system is mounted on three-component gravity sensor and three-component magnetic
Between field sensor.
5. a kind of optical fiber inertial navigation positioning and directing system of underground multi -components geophysical survey instrument according to claim 4
System, which is characterized in that the underground multi -components geophysics communicated to connect with ground multi-way contral and data acquisition subsystem is surveyed
Measuring appratus is multiple stage array formula Comprehensive Geophysics data collection system, including several single level array formula Comprehensive Geophysics numbers
According to acquisition system, several single level array formula Comprehensive Geophysics data collection systems series connection.
6. a kind of light of underground multi -components geophysical survey instrument described in -5 any one claims according to claim 1
Fine inertial navigation positioning and orientation system, which is characterized in that the optical fiber inertial navigation positioning and orientation system is interferometric fiber optic gyroscope composition
Inertial navigation system, resonance type optical fiber gyro instrument constitute inertial navigation system, stimulated Brillouin scattering light fiber gyroscope constitute inertial navigation
The inertial navigation of system, fiber-optic gyroscope strapdown inertial navigation system, fiber grating Strapdown Inertial Navigation System, optical fibre gyro and micromechanical gyroscope combination
One of system.
7. a kind of optical fiber inertial navigation positioning and directing data processing method of underground multi -components geophysical survey instrument, feature exist
In, comprising:
The multi -components biography of S1, the underground multi -components geophysical survey instrument obtained according to optical fiber inertial navigation positioning and orientation system measurement
Inclination angle, azimuth and the tendency of sensor carry out rotation processing to corresponding multi -components geophysical data；
S2, according to the multi -components geophysical data after step S1 rotation processing, extract rock in well related with resilient nature
Or three component seismic wave speed data, attenuation coefficient and the anisotropy coefficient on stratum, extract rock related with electromagnetic property
Or the three-component resistivity data on stratum, extract three-component gravity value, the density ginseng of rock related with gravity property or stratum
Number extracts the three-component magnetic parameter on rock related with stratum magnetic properties or stratum；
S3, the three component seismic wave speed data according to step S2 extraction, three-component resistivity data, three-component gravity value, three
Component magnetic field value carries out inversion imaging, obtains the rock within the scope of point position certain distance or elastic parameter, the electrical property on stratum
The regularity of distribution of parameter, density value and magnetic field strength.
8. a kind of optical fiber inertial navigation positioning and directing data of underground multi -components geophysical survey instrument according to claim 7
Processing method, which is characterized in that step S1 specifically:
S11, the three-component geophysical data value of measurement is rotated to the position that inclination angle is zero degree；
S12, the postrotational three-component geophysical data value of step S11 is rotated to by azimuth according to the azimuth of this measuring point it is
The position of zero degree；
S13, the trend if necessary to three-component geophysical data be rotated to known geologic body or set profile direction, then exist
When carrying out the rotation processing of horizontal component, the rotation of horizontal component on ground need to will be only parallel to the side of one of horizontal component
The position that the angle in the direction of the trend or set section of parallactic angle and geologic body is zero.
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