CN109882157B - Optical Fiber Inertial Navigation System of Downhole Multi-component Measuring Instrument and Its Data Processing Method - Google Patents

Abstract

The invention discloses an optical fiber inertial navigation system of an underground multi-component measuring instrument and a data processing method thereof, which are applied in the technical field of geophysical exploration, in order to solve the real-time orientation and positioning of the existing underground multi-component geophysical measuring instrument in the continuous operation process Problem; the present invention includes: an optical fiber inertial navigation positioning and orientation system, an underground multi-component geophysical measuring instrument, and a ground multi-channel control and data acquisition subsystem; the underground multi-component geophysical measuring instrument includes a multi-component sensor; the optical fiber inertial navigation The positioning and orientation system is fixed beside the multi-component sensor. When the multi-component sensor is working, the optical fiber inertial navigation positioning and orientation system records the real-time position, velocity and attitude information of the multi-component sensor in real time; in addition, the data processing method proposed by the present invention can obtain The multi-dimensional data distribution or change of the location of the measuring point greatly reduces the non-uniqueness of the interpretation results of single geophysical data processing.

Description

Optical Fiber Inertial Navigation System of Downhole Multi-component Measuring Instrument and Its Data Processing Method

technical field

The invention belongs to the technical field of geophysical prospecting, and in particular relates to an optical fiber inertial navigation orientation of an underground multi-component geophysical instrument and a corresponding data processing technology.

Background technique

At present, downhole wireline logging tools, logging while drilling tools, and in-hole seismic tools widely used in the industry have respectively adopted three-component electromagnetic, three-component gravity, three-component magnetic field and three-component seismic sensors. The real-time directional positioning function has not been completely solved. There is no real-time directional positioning data from downhole multi-component instrument sensors, and there is no way to rotate and correct the multi-component data collected downhole in the later stage. The currently commonly used three-component attitude sensor basically cannot work normally in a magnetic steel casing or on a steel drill collar because of the use of a magnetic field sensor. We urgently need to find a solution to the problem of real-time orientation positioning of downhole multi-component geophysical measuring instruments during continuous operation.

The inertial navigation system (INS-Inertial Navigation System) is a navigation parameter calculation system based on gyroscopes and accelerometers as sensitive devices. The system establishes a navigation coordinate system based on the output of the gyroscope, and calculates the navigation coordinates of the carrier based on the output of the accelerometer. speed and position in the system.

Inertial navigation system, also known as inertial reference system, is an autonomous navigation system that does not rely on external information and does not radiate energy to the outside (such as radio navigation). Its working environment includes not only the air, the ground, but also underwater. The basic working principle of inertial navigation is based on Newton's laws of mechanics. By measuring the acceleration of the carrier in the inertial reference system, integrating it with time, and transforming it into the navigation coordinate system, the position in the navigation coordinate system can be obtained. Information such as speed, yaw angle and position.

The inertial navigation system belongs to the reckoning navigation method, that is, the position of the next point is calculated from the position of a known point based on the continuously measured heading angle and speed of the moving body, so the current position of the moving body can be continuously measured. The gyroscope in the inertial navigation system is used to form a navigation coordinate system, so that the measurement axis of the accelerometer is stabilized in the coordinate system, and the heading and attitude angle are given; The speed can be obtained by one integration, and the displacement can be obtained by one time integration of the speed.

Several modern navigation technologies are more common, including astronomical navigation, inertial navigation, satellite navigation, radio navigation, etc. Among them, only inertial navigation is autonomous, neither radiating things to the outside world, nor looking at the stars in the sky or receiving external signals. signal, its concealment is the best.

In the navigation of many strategic and tactical weapons of the country, such as intercontinental civil aviation aircraft, etc., it is necessary to rely on the inertial navigation system or the combination of the inertial navigation system and other types of navigation systems. Its cost is also relatively expensive, like a navigation-level inertial navigation system (that is, an error of 1 nautical mile per hour), it costs at least hundreds of thousands, and a navigation system of this accuracy is enough to be equipped on an aircraft such as Boeing 747. Now, with the advancement of MEMS (micro-electro-mechanical system) inertial device technology, commercial-grade and consumer-grade inertial navigation has gradually entered the homes of ordinary people.

The inertial navigation system has the following advantages: 1. Since it is an autonomous system that does not depend on any external information and does not radiate energy to the outside, it has good concealment and is not affected by external electromagnetic interference; 2. It can be used all-weather and all-round Timely work in the air, on the surface of the earth and even underwater; 3. It can provide position, speed, heading and attitude angle data, and the navigation information generated has good continuity and low noise; 4. High data update rate, short-term accuracy and stability good.

The disadvantages are: 1. Due to the integration of navigation information, the positioning error increases with time, and the long-term accuracy is poor; 2. It takes a long time for initial alignment before each use; 3. The price of the equipment is relatively expensive; 4. , Can not give time information.

However, the inertial navigation has a fixed drift rate, which will cause errors in the movement of objects. Therefore, weapons with a long range usually use commands, GPS, etc. to make regular corrections to the inertial navigation to obtain continuous and accurate position parameters. The inertial navigation system has developed a variety of methods such as flexible inertial navigation, fiber optic inertial navigation, laser inertial navigation, and micro solid-state inertial instruments. Gyroscopes have evolved from traditional wire-wound gyroscopes to electrostatic gyroscopes, laser gyroscopes, fiber optic gyroscopes, and micromechanical gyroscopes. Laser gyroscopes have a wide dynamic range, good linearity, stable performance, good temperature stability and repeatability, and have always occupied a dominant position in high-precision applications. Due to the progress of science and technology, the precision of fiber optic gyroscope (FOG) and micromechanical gyroscope (MEMS) with lower cost is getting higher and higher, which is the direction of future gyroscope technology development.

A fiber optic gyroscope is a fiber optic sensor used for inertial navigation. It is called a solid-state gyroscope because it has no moving parts—a high-speed rotor. This new type of all-solid-state gyroscope will become the leading product in the future and has broad development prospects and application prospects. The working principle of the fiber optic gyroscope is based on the Sagnac effect. The Sagnac effect is a general correlation effect of light propagating in a closed-loop optical path that rotates relative to inertial space, that is, two beams of light with equal characteristics emitted from the same light source in the same closed optical path propagate in opposite directions. Finally converge to the same detection point.

If there is a rotation angular velocity relative to the inertial space around the axis perpendicular to the plane where the closed optical path is located, the optical path of the light beam propagating in the forward and reverse directions will be different, resulting in an optical path difference, and the optical path difference is proportional to the angular velocity of rotation . Therefore, as long as the information of the optical path difference and the corresponding phase difference is known, the rotational angular velocity can be obtained.

Compared with electromechanical gyroscopes or laser gyroscopes, fiber optic gyroscopes have the following characteristics:

(1) There are few parts, the instrument is firm and stable, and has a strong ability to resist impact and anti-acceleration;

(2) The wound optical fiber is longer, which improves the detection sensitivity and resolution by several orders of magnitude compared with the laser gyroscope;

(3) There are no mechanical transmission parts, and there is no wear problem, so it has a long service life;

(4) It is easy to adopt integrated optical path technology, the signal is stable, and it can be directly output digitally and connected with the computer interface;

(5) By changing the length of the optical fiber or the number of times the light circulates in the coil, different accuracies can be achieved and have a wider dynamic range;

(6) The propagation time of the coherent beam is short, so in principle it can be started instantly without preheating;

(7) It can be used together with the ring laser gyro to form sensors of various inertial navigation systems, especially sensors of strapdown inertial navigation systems;

(8) Simple structure, low price, small size and light weight.

The patent application numbers of fiber optic gyroscopes are: 201410832135.5, 201820019320.5, 201410599074.1, 201610810893.5, 201710561353.2, 200910073220.6, 201620080843.1, 2014100 80780.5 and other applications have been well applied.

But the fiber optic inertial navigation system cannot give time information.

Contents of the invention

In order to solve the problem of real-time orientation and positioning of downhole multi-component geophysical measuring instruments in the continuous operation process, the present invention proposes a fiber optic inertial navigation positioning and orientation system for downhole multi-component geophysical measuring instruments. The fiber optic inertial navigation positioning and orientation system is installed in the site to perform real-time positioning and orientation for downhole multi-component geophysical measuring instruments, and provide important supporting data for downhole measurement multi-component geophysical data processing and interpretation.

For the multi-component geophysical data collected by the fiber optic inertial navigation positioning and orientation system of the multi-component geophysical measuring instrument in the well, the present invention also proposes a data processing method, which can realize the analysis of underground geological structures, oil and gas resources, metal mineral resources, and groundwater resources. Comprehensive exploration and multi-parameter comprehensive evaluation of engineering geological needs.

One of the technical solutions adopted by the present invention is: a fiber optic inertial navigation positioning and orientation system for downhole multi-component geophysical measuring instruments, including: a fiber optic inertial navigation positioning and orientation system, downhole multicomponent geophysical measuring instruments, and ground multi-channel control and data Acquisition subsystem; the downhole multi-component geophysical measuring instrument includes a multi-component sensor; the optical fiber inertial navigation positioning and orientation system is fixed beside the multi-component sensor, and when the multi-component sensor is working, the optical fiber inertial navigation positioning and orientation system records the multi-component in real time Real-time position, velocity and attitude information of sensors;

When the downhole multi-component geophysical measuring instrument communicates with the surface multi-channel control and data acquisition subsystem, the multi-component sensor of the downhole multi-component geophysical measuring instrument uploads the measured multi-component geophysical data to the ground control and data acquisition processing sub-system system, the optical fiber inertial navigation positioning and orientation system uploads the measured real-time position, velocity and attitude information of multi-component sensors to the ground control and data acquisition and processing subsystem;

When the downhole multi-component geophysical measuring instrument has no communication connection with the surface multi-channel control and data acquisition subsystem, at least including: memory and timing module, the multi-component sensor of the downhole multi-component geophysical measuring instrument will measure the multi-component geophysical data Stored in the memory; the fiber optic inertial navigation positioning and orientation system stores the measured real-time position, velocity and attitude information of the multi-component sensor in the memory after being timed by the timer; when the downhole multi-component geophysical measuring instrument is taken out from the downhole, the memory The data in the ground is transmitted to the ground multi-channel control and data acquisition subsystem;

The communication connection is specifically connected through an armored photoelectric composite cable.

Among them, the downhole multi-component geophysical measuring instrument communicated with the surface multi-channel control and data acquisition subsystem also includes: a photoelectric conversion circuit, a 32-bit analog-to-digital conversion circuit, a multi-component sensor of the downhole multi-component geophysical measuring instrument and 32 The input end of the 32-bit analog-to-digital conversion circuit is connected, the optical fiber inertial navigation positioning and orientation system is connected to the input end of the 32-bit analog-to-digital conversion circuit through the photoelectric conversion circuit, and the output end of the 32-bit analog-to-digital conversion circuit is connected to the memory; the 32-bit analog-to-digital conversion circuit The output end is also connected with the input end of the photoelectric conversion circuit, and the output end of the photoelectric conversion circuit is connected with the armored photoelectric composite cable.

The downhole multi-component geophysical measuring instrument communicated with the surface multi-channel control and data acquisition subsystem is an downhole three-component transmitting three-component array receiving induction logging instrument, including: downhole multi-component instrument casing, three-component electromagnetic transmitting coil, three-component An electromagnetic receiving coil and a vertical electric field component sensor; an optical fiber inertial navigation positioning and orientation system is installed between the three-component electromagnetic transmitting coil and the array three-component electromagnetic receiving coil; the output terminal of the vertical electric field component sensor is connected to the input terminal of a 32-bit analog-to-digital conversion circuit; The vertical electric field component sensor is realized by using non-polarized electrodes.

The downhole multi-component geophysical measuring instrument communicated with the surface multi-channel control and data acquisition subsystem is a single-stage array integrated geophysical data acquisition system, including: downhole multi-component instrument housing, three-component gravity sensor and three-component magnetic field sensor; The fiber optic inertial navigation positioning and orientation system is installed between the three-component gravity sensor and the three-component magnetic field sensor.

The downhole multi-component geophysical measuring instrument connected with the surface multi-channel control and data acquisition subsystem is a multi-level array integrated geophysical data acquisition system, including several single-level array integrated geophysical data acquisition systems. A single-stage array integrated geophysical data acquisition system is connected in series.

The fiber optic inertial navigation positioning and orientation system is an inertial navigation system composed of an interference fiber optic gyroscope, an inertial navigation system composed of a resonant fiber optic gyroscope, an inertial navigation system composed of a stimulated Brillouin scattering fiber optic gyroscope, and a fiber optic gyroscope strapdown One of inertial navigation system, fiber grating strapdown inertial navigation system, fiber optic gyroscope and micromechanical gyroscope combined inertial navigation system.

Another technical solution adopted by the present invention is: a fiber optic inertial navigation positioning and orientation data processing method for an underground multi-component geophysical measuring instrument, comprising:

S1. Rotate the corresponding multi-component geophysical data according to the inclination, azimuth and inclination of the multi-component sensor of the downhole multi-component geophysical measuring instrument measured by the optical fiber inertial navigation positioning and orientation system;

S2. According to the multi-component geophysical data rotated and processed in step S1, the three-component seismic wave velocity data, attenuation coefficient and anisotropy coefficient of rocks or formations in the well related to elastic properties are extracted, and the rocks or formations related to electromagnetic properties are extracted. Three-component resistivity data, extract the three-component gravity value and density parameter of the rock or formation related to the gravity property, and extract the three-component magnetic parameter of the rock or formation related to the magnetic property of the formation;

S3. Perform inversion imaging according to the three-component seismic wave velocity data, three-component resistivity data, three-component gravity value, and three-component magnetic field value extracted in step S2, and obtain the elastic parameters and electrical parameters of rocks or formations within a certain distance from the measuring point position. The distribution laws of property parameters, density values and magnetic field strength.

Step S1 is specifically:

S11. Rotate the measured three-component geophysical data value to a position where the inclination angle is zero degree;

S12. Rotate the three-component geophysical data value rotated in step S11 to a position where the azimuth is zero degrees according to the azimuth of the measuring point;

S13. If it is necessary to rotate the three-component geophysical data to the direction of the known geological body or the direction of the predetermined section, when performing the rotation processing of the horizontal component, it is only necessary to rotate the horizontal component parallel to the ground to the orientation of one of the horizontal components The position where the included angle between the angle and the trend of the geological body or the direction of the given profile is zero.

Beneficial effects of the present invention: the system of the present invention provides two solutions to solve the real-time directional positioning problem of downhole measurement, when an armored photoelectric composite cable is connected to the downhole multi-component geophysical measuring instrument to communicate with the ground multi-channel control and data acquisition subsystem At the same time, the multi-component geophysical data collected and the real-time position, velocity and attitude information of the optical fiber inertial navigation positioning and orientation system are transmitted to the ground multi-channel control and data acquisition subsystem in real time through the armored photoelectric composite cable to realize multi-point real-time directional positioning of geophysical measuring instruments; when the multi-component geophysical measuring instruments are not connected to the ground multi-channel control and data acquisition subsystem by armored photoelectric composite cables, the collected multi-component geophysical data and The real-time position, velocity and attitude information of the optical fiber inertial navigation positioning and orientation system, and the real-time position, velocity and attitude information of the optical fiber inertial navigation positioning and orientation system are timed, processed together and stored in the memory of the downhole multi-component geophysical measuring instrument In, realize the real-time directional positioning of multi-component geophysical surveying instrument; The present invention has the following advantages:

1. It can make downhole three-component electromagnetic logging tools, multi-pole or three-component acoustic logging tools, three-component magnetic field logging tools, three-component well gravity tools, three-component well seismic data acquisition tools, three-component electromagnetic or three-component Component acoustic wave or three-component seismic instruments, etc. record the real-time orientation and position coordinate information of each three-component sensor in real time during downhole data acquisition operations, which is convenient for subsequent data processing and interpretation;

2. Downhole three-component electromagnetic emission and synchronous acquisition of array three-component magnetic field and vertical electric field component;

3. Rotate and project the multi-component data collected at different depths according to the measured positioning and orientation data;

4. Mutually constrained inversion or joint inversion of the three-component seismic data, three-component and controllable source electromagnetic data, three-component gravity data and three-component magnetic field data measured in the well can be used to obtain the geological structure within a certain range of the measuring point position , rock velocity, resistivity, density, and magnetic minerals or more reliable distribution and variation of fluid types in rock pores, greatly reducing the non-uniqueness of single geophysical data processing interpretation results;

5. When the multi-component geophysical measuring instrument is not connected to the ground multi-channel control and data acquisition subsystem without armored photoelectric composite cable, the chip atomic clock or high-precision constant temperature crystal oscillator is used for the optical fiber inertial navigation data and the collected multi-component data. Real-time timing.

Description of drawings

Fig. 1 is a structural schematic diagram of the downhole three-component transmitting three-component array receiving induction logging instrument of the present invention;

Fig. 2 is a schematic structural diagram of the downhole single-stage comprehensive geophysical data acquisition system of the present invention;

Fig. 3 is the structure schematic diagram of electromagnetic or comprehensive geophysical data acquisition system in downhole multi-stage array type well of the present invention;

Figure 4 is a schematic diagram of the layout of electromagnetic or integrated geophysical data acquisition systems and ground dipole current sources in downhole multi-stage array type wells of the present invention;

Figure 5 is a schematic diagram of the layout of the electromagnetic or comprehensive geophysical data acquisition system and the ground circuit current source in the downhole multi-stage array type well of the present invention;

Fig. 6 is a schematic structural diagram of the downhole single-stage comprehensive geophysical gradient data acquisition system of the present invention;

Fig. 7 is a structural schematic diagram of the downhole three-component transmitting and three-component receiving induction logging while drilling instrument of the present invention;

Fig. 8 is a schematic block diagram of the downhole three-component transmitting three-component array receiving induction logging instrument and the surface control excitation and data receiving system of the present invention.

Explanation of reference signs: 1 is a ground logging instrument vehicle; 2 is a ground launch vehicle that drives the ground large loop transmission coil; 3 is an optical fiber inertial navigation positioning and orientation system; 4 is a high-temperature-resistant high-precision constant temperature crystal oscillator or an atomic clock chip; 5 is Armored photoelectric composite cable connected to downhole multi-component instruments; 6 is the 32-bit analog-to-digital conversion circuit and memory connected to the optical fiber inertial navigation sensor device; 7 is drilling; 11 is the shell of the three-component emitting three-component array receiving induction logging instrument; 12 14 is the three-component electromagnetic receiving coil of the array induction logging tool; 15 is the non-polarized electrode for receiving the vertical electric field component of the array induction logging tool; 16 is the ground large current Source control excitation unit; 17 is the ground multi-channel control and data receiving unit; 21 is the shell of the single-stage comprehensive geophysical data acquisition system; 27 is the three-component gravity sensor; 28 is the three-component magnetic field sensor; 31 is the photoelectric conversion module; 41 is Ground dipole current source transmitting antenna; 51 is the large ground loop transmitting coil; 61 is the shell of the single-stage comprehensive geophysical gradient data acquisition system; 67 is the three-component gravity sensor; 68 is the three-component magnetic field sensor; 70 is logging while drilling Instrument casing; 71 is the sensor fixing bracket in the logging while drilling tool; 72, the drilling mud channel inside the logging while drilling tool; 73 is the roller cone bit of the logging while drilling tool; 74 is the vertical magnetic field component transmitting coil; 75 is the horizontal Magnetic field component transmitting coil; 76 is a horizontal magnetic field component transmitting coil; 77 is a vertical magnetic field component receiving coil; 78 is a horizontal magnetic field component receiving coil; 79 is a horizontal magnetic field component receiving coil.

Detailed ways

In order to facilitate those skilled in the art to understand the technical content of the present invention, the content of the present invention will be further explained below in conjunction with the accompanying drawings.

The optical fiber inertial navigation positioning and orientation system of the downhole multi-component geophysical measuring instrument of the present invention includes: ground control and data acquisition and processing subsystems, wellbore data transmission and communication subsystems, downhole multi-component geophysical measuring instruments, and downhole high-temperature-resistant high-precision optical fibers The inertial navigation subsystem consists of four parts. The high-temperature-resistant and high-precision optical fiber inertial navigation subsystem measures the acceleration and angular velocity of the downhole multi-component geophysical measuring instrument when it moves, and solves it through the inertial system to obtain the acceleration and angular velocity information of the downhole multi-component geophysical measuring instrument. The photoelectric composite cable of the geophysical measuring instrument uploads the data to the ground control and data acquisition and processing subsystem, and processes the information uploaded by the optical fiber inertial navigation subsystem through the ground control and data acquisition and processing subsystem to obtain the downhole multi-component geophysical measurement The real-time position, speed and attitude information of the instrument during the data acquisition operation. The invention makes full use of high-temperature-resistant and high-precision optical fiber inertial navigation sensing technology, which has the following advantages: strong anti-interference ability, high reliability, high measurement accuracy, high real-time performance, small error, independent of wellbore depth, wellbore conditions, downhole It has the advantages of magnetic steel casing, magnetic steel drill collar, hoisting wire rope or armored photoelectric composite cable slipping, elastic elongation, creep, etc.

This embodiment provides five implementation forms of downhole multi-component geophysical measuring instruments: the downhole three-component transmitting three-component array receiving induction logging instrument structure as shown in Figure 1 respectively, and the downhole single-stage synthesis as shown in Figure 2 The geophysical data acquisition system, the multi-level array integrated geophysical data acquisition system shown in Figure 3, the single-level integrated geophysical gradient data acquisition system shown in Figure 6, the three-component emission three-component system shown in Figure 7 Receive LWD induction logging tools.

As shown in Figure 1, it is a structural schematic diagram of the downhole three-component emission three-component array reception induction logging instrument of the present invention, including: the downhole three-component emission three-component array reception induction logging instrument housing 11, the three-component electromagnetic induction logging instrument of the array induction logging instrument Transmitting coil 12, optical fiber inertial navigation positioning and orientation system 3, three-component electromagnetic receiving coil 14 of array induction logging instrument, non-polarized electrode 15 for receiving vertical electric field component of array induction logging instrument, armored body connected to downhole multi-component instrument Photoelectric composite cable 5.

The optical fiber inertial navigation positioning and orientation system 3 is installed between the three-component electromagnetic transmitting coil 12 and the array three-component electromagnetic receiving coil 14, and is used for real-time measurement and recording of the three-component transmitting three-component array receiving induction logging tool in the operation process. The real-time orientation and position coordinate information of the measuring point, and the downhole three-component induction electromagnetic data measured by the three-component transmitting three-component array receiving induction logging instrument are uploaded to the logging instrument vehicle at the wellhead in real time through the armored photoelectric composite cable 5 1 in the computer to store it, which is convenient for subsequent data processing.

As shown in Figure 2, the downhole single-stage integrated geophysical data acquisition system of the present invention includes: an downhole single-stage integrated geophysical data acquisition system housing 21, an optical fiber inertial navigation positioning and orientation system 3, and an armored photoelectric system connected to the downhole multi-component instrument. Composite cable 5, three-component gravity sensor 27 and three-component magnetic field sensor 28.

The optical fiber inertial navigation positioning and orientation system 3 is installed between the three-component gravity sensor 27 and the three-component magnetic field sensor 28 of the single-stage comprehensive geophysical data acquisition system, and is used for real-time measurement and recording during the operation of the single-stage comprehensive geophysical data acquisition system in the well. The real-time azimuth and position coordinate information of all the measuring points, and the downhole three-component electromagnetic induction data measured by the array induction logging instrument are uploaded in real time to the computer in the logging instrument car 1 at the wellhead through the armored photoelectric composite cable 5 stored for subsequent data processing.

As shown in Figure 3, the multi-level array integrated geophysical data acquisition system of the present invention includes at least two single-level integrated geophysical data acquisition systems, and multiple single-level integrated geophysical data acquisition systems are connected in series.

The well logging instrument shown in Fig. 1, 2, 3 also includes: 32-bit analog-to-digital conversion circuit and memory 6, photoelectric conversion module 31, the signal that is collected is converted into digital signal by 32-bit analog-to-digital conversion circuit and stored in synchronously Inside the memory, the converted digital signal is converted into an optical signal through the photoelectric conversion module 31, and then the armored photoelectric composite cable 5 is used to transmit the converted optical signal to the multi-channel control and data receiving unit 17 on the ground for quality monitoring.

In the present embodiment, two kinds of ground dipole current source layout modes of the multi-level array integrated geophysical data acquisition system are provided, which are respectively: the ground dipole current source transmitting antenna 41 as shown in Figure 4, and the ground dipole current source transmitting antenna 41 as shown in Figure 5 The large-loop transmitting coil 51 on the ground; when the dipole current source transmitting antenna 41 laid on the ground or the large-loop transmitting coil 51 laid on the ground work, the real-time measurement and record downhole multi-level array type three-component gravity and three-component magnetic field composite earth The real-time azimuth and position coordinate information of all measuring points of the physical data acquisition instrument during operation, and the downhole three-component gravity and three-component electrical data measured by the multi-level array integrated geophysical data acquisition system through the armored photoelectric composite cable 5 The magnetic induction data are uploaded in real time to the computer in the logging instrument cart 1 at the wellhead and stored to facilitate subsequent data processing. The large loop transmitting coil 51 laid on the ground is driven by the ground transmitting vehicle 2 .

For geophysical gradient data acquisition, the present invention takes the single-level comprehensive geophysical data acquisition system as an example, as shown in Figure 6, it is the downhole single-level comprehensive geophysical gradient data acquisition system of the present invention, comprising: single-level comprehensive geophysical gradient data Acquisition system housing 61, optical fiber inertial navigation positioning and orientation system 3, armored photoelectric composite cable 5 connected to downhole multi-component instruments, three-component gravity sensor 67 and three-component magnetic field sensor 68. The fiber optic inertial navigation positioning and orientation system 3 is installed between the three-component gravity sensor 67 and the three-component magnetic field sensor 68 in the downhole comprehensive geophysical gradient data acquisition system, and is used for real-time measurement and recording of the single-level comprehensive geophysical gradient data acquisition system during operation. The real-time azimuth and position coordinate information of all measuring points in the system, and the downhole three-component gravity gradient and three-component magnetic field gradient data measured by the downhole single-stage comprehensive geophysical gradient data acquisition system are uploaded to the The wellhead logging instrument car 1 is stored in the computer to facilitate subsequent data processing.

As shown in Figure 7, the downhole three-component transmitting three-component receiving induction logging while drilling tool of the present invention comprises: a logging while drilling tool casing 70, a sensor fixing bracket 71 inside the logging while drilling tool, Drilling mud channel 72, roller cone bit 73 of LWD instrument, fiber optic inertial navigation positioning and orientation system 3, 32-bit analog-to-digital conversion circuit and memory 6 connected to fiber optic inertial navigation sensor device, high temperature resistant high precision constant temperature crystal oscillator or chip level Atomic clock 4, vertical magnetic field component transmitting coil 74, first horizontal magnetic field component transmitting coil 75, second horizontal magnetic field component transmitting coil 76, vertical magnetic field component receiving coil 77, first horizontal magnetic field component receiving coil 78, second horizontal magnetic field component receiving coil Coil 79.

The optical fiber inertial navigation positioning and orientation system 3 is installed between the three-component magnetic field component transmitting coils 74, 75, 76 and the three-component magnetic field receiving coils 77, 78, 79 in the three-component induction logging while drilling tool. Or the chip-level atomic clock 4 is installed below the fiber optic inertial navigation positioning and orientation system 3 . The fiber optic inertial navigation positioning and orientation system 3 is used for real-time measurement and recording of the real-time orientation and position coordinate information of all measuring points of the three-component induction logging while drilling tool during the drilling operation, and is connected to the 32-bit analog-to-digital conversion circuit of the fiber optic inertial navigation sensor device And memory 6 converts the measured downhole multi-component geophysical data and the real-time position, velocity and attitude information of the multi-component sensors in the measuring instrument into digital signals through the analog-to-digital conversion circuit and stores them in the memory. The high-precision constant temperature crystal oscillator or chip The real-time position, velocity and attitude information recorded by it is time-served by a super-atomic clock.

After the drilling tool is taken out of the wellbore, the downhole measured multi-component geophysical data stored in the multi-component geophysical measurement tool while drilling, and the real-time position, velocity and attitude information of the multi-component sensor are transmitted to the ground control and data acquisition In the processing subsystem, it is convenient for subsequent data processing.

The present invention uses the downhole three-component transmitting three-component array receiving induction logging instrument as an example to illustrate the working principle of the logging instrument of the present invention; as shown in Figure 8 is the downhole three-component transmitting three-component array receiving induction logging instrument of the present invention and ground control excitation and data receiving system block diagram. Including: optical fiber inertial navigation positioning and orientation system 3, armored photoelectric composite cable 5 connected to downhole multi-component instruments, three-component electromagnetic transmitting coil 12 of array induction logging instrument, three-component electromagnetic receiving coil 14 of array induction logging instrument, The non-polarized electrode 15 for receiving the vertical electric field component of the array induction logging tool, the ground large current source control excitation unit 16, the ground multi-channel control and data receiving unit 17, the photoelectric conversion module 31 and the multi-channel 32-bit analog-to-digital conversion circuit and Memory 6; its working principle is as follows: when the downhole three-component emission three-component array receiving induction logging instrument goes down to the bottom of the well and starts to collect data, the optical fiber inertial navigation positioning and orientation system 3 installed in the middle of the instrument starts to measure and record the downhole instrument synchronously The real-time orientation, position and inclination at this time are transmitted to the ground multi-channel control and data receiving unit 17 in real time. The ground large current source controls the excitation unit 16 to send a pre-set excitation current to the three-component electromagnetic transmitting coil 12 of the downhole three-component transmitting three-component array receiving induction logging tool through the armored photoelectric composite cable 5, so that the transmitting coil generates a three-component The magnetic field is excited, and at the same time, the three-component electromagnetic receiving coil 14 of the array induction logging tool starts to synchronously receive the three-component primary (excitation) magnetic field signal generated by the exciting current emitted by the three-component transmitting coil. At this time, the formation is generated under the three-component exciting magnetic field signal. The secondary induced current generates a secondary induced magnetic field in the three-component receiving coil. At the same time, the vertical electric field component of the array induction logging tool receives the primary vertical electric field signal generated by the excitation magnetic field emitted by the three-component transmitting coil with the non-polarized electrode pair 15, and the secondary induced current generated by the formation under the three-component excitation magnetic field signal field signal. The electromagnetic signals collected by the three-component magnetic field sensor (coil) and the vertical electric field component sensor (non-polarized electrode pair) are converted into digital signals by a multi-channel 32-bit analog-to-digital conversion circuit and memory 6 and stored in the memory synchronously. After the digital signal is converted into an optical signal by the photoelectric conversion module 31, then the armored photoelectric composite cable 5 is used to transmit the converted optical signal to the multi-channel control and data receiving unit 17 on the ground for quality monitoring (QC) and storage. Post processing.

The multi-component geophysical data in this 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 gravity data, three-component magnetic field data , three-component acoustic data, three-component seismic data, etc.

The high-temperature-resistant high-precision fiber optic inertial navigation device can be an inertial navigation system composed of an interferometric fiber optic gyroscope (I-FOG), an inertial navigation system composed of a resonant fiber optic gyroscope (R-FOG), a stimulated Brillouin scattering One of fiber optic gyroscope (B-FOG), inertial navigation system composed of fiber optic gyro strapdown inertial navigation system, fiber optic grating strapdown inertial navigation system, fiber optic gyroscope and micromechanical gyroscope combined inertial navigation system.

The invention collects multi-component geophysical data for each measuring point in the well and uses a high-precision optical fiber inertial navigation device to collect inertial navigation data at the position of the measuring point on the same side. Then the operator moves the downhole multi-component geophysical measuring instrument to the next pre-designed measuring point for data acquisition until the data acquisition of all measuring points in the well is completed.

The positioning and orientation system of the present invention can realize the real-time positioning of the position of each sensor, and perform rotation projection processing on the multi-component data collected at different depth positions according to the measured positioning and orientation data during subsequent data processing; the specific data processing process is as follows:

S1. Rotate the corresponding multi-component geophysical data according to the inclination, azimuth and inclination of the multi-component sensor of the downhole multi-component geophysical measuring instrument measured by the optical fiber inertial navigation positioning and orientation system;

Rotate all the multi-component geophysical data collected downhole one by one, so that the vertical component of the three-component geophysical data is perpendicular to the horizontal ground, and the two horizontal components will become one horizontal component is north-south, and the other horizontal component is east-west . Or through rotation processing, one horizontal component is parallel to the trend of the geological body or the predetermined section direction, and the other horizontal component is perpendicular to the trend of the geological body or the direction of the section and parallel to the ground.

S2. According to the multi-component geophysical data rotated and processed in step S1, the three-component seismic wave velocity data, attenuation coefficient and anisotropy coefficient of rocks or formations in the well related to elastic properties are extracted, and the rocks or formations related to electromagnetic properties are extracted. Three-component resistivity data, extract the three-component gravity value and density parameter of the rock or formation related to the gravity property, and extract the three-component magnetic parameter of the rock or formation related to the magnetic property of the formation;

Process the projected and rotated three-component controllable source electric field data, three-component controllable source magnetic field data, three-component resistivity data, three-component polarizability data, and three-component gravity data through forward modeling and inversion calculation steps Data, three-component magnetic field data, three-component acoustic wave data, three-component seismic data, etc., can extract three-component seismic wave velocity data, attenuation coefficient and anisotropy coefficient of rock or formation related to elastic properties, and rock related to electromagnetic properties Or the three-component resistivity data of the formation, the three-component gravity data of the rock or formation related to the gravity property, the density parameter and the three-component magnetic parameter of the rock or formation related to the magnetic property of the formation.

S3. Perform inversion imaging according to the three-component seismic wave velocity data, three-component resistivity data, three-component gravity value, and three-component magnetic field value extracted in step S2, and obtain the elastic parameters and electrical parameters of rocks or formations within a certain distance from the measuring point position. The distribution laws of property parameters, density values and magnetic field strength.

The three-component seismic wave velocity value, the three-component resistivity value, the three-component gravity value, and the three-component magnetic field value of each measuring point in the downhole are reversed and imaged to obtain the elastic parameters and electrical parameters of the rock or formation within a certain distance from the measuring point. The distribution laws of property parameters, density values and magnetic field strength.

According to the obtained distribution laws of velocity values, resistivity values and density values of rocks or formations, the interpretation and evaluation of the distribution characteristics and laws of geological structures, rocks or formations containing oil and gas or high-density minerals within a certain range of measuring points can be realized. According to the obtained distribution law of the magnetic field strength of the rock or formation, the interpretation and evaluation of the distribution characteristics and laws of the magnetic minerals in the rock or formation within a certain range of the measuring point can be realized.

Using the optical fiber inertial navigation positioning and orientation system and data processing method of the downhole multi-component geophysical measuring instrument of the present invention, the downhole multi-component geophysical measuring instrument can detect the velocity of geological structures, rock formations or formations in a larger range below the position of the measuring point , resistivity, density and distribution of magnetic minerals, can also improve the resolution of the target geological body, greatly reduce the interference of various man-made noises on the comprehensive geophysical measurement data, and improve the signal-to-noise ratio of the comprehensive geophysical measurement data, It can also provide information on the occurrence of formations, understand the spatial distribution of high-density or high-magnetic geological bodies, and realize the comprehensive interpretation and evaluation of the velocity, resistivity, density and magnetic parameters of reservoirs or minerals. Mutually constrained inversion or joint inversion of three-component seismic data, three-component and controllable source electromagnetic data, three-component gravity data and three-component magnetic field data measured in the well can be used to obtain geological structures and rocks within a certain range of measuring point positions. More reliable distribution and variation of velocity, resistivity, density, and magnetic mineral or fluid type in rock pores, greatly reducing the non-uniqueness of interpretation results from single geophysical data processing.

Using the optical fiber inertial navigation positioning and orientation system and data processing method of the downhole multi-component geophysical measuring instrument of the present invention, the downhole multi-component geophysical measuring instrument can detect the velocity of geological structures, rock formations or formations in a larger range below the position of the measuring point , resistivity, density and distribution of magnetic minerals, can also improve the resolution of the target geological body, greatly reduce the interference of various man-made noises on the comprehensive geophysical measurement data, and improve the signal-to-noise ratio of the comprehensive geophysical measurement data, It can also provide information on the occurrence of formations, understand the spatial distribution of high-density or high-magnetic geological bodies, and realize the comprehensive interpretation and evaluation of the velocity, resistivity, density and magnetic parameters of reservoirs or minerals. Mutually constrained inversion or joint inversion of three-component seismic data, three-component and controllable source electromagnetic data, three-component gravity data and three-component magnetic field data measured in the well can be used to obtain geological structures and rocks within a certain range of measuring point positions. More reliable distribution and variation of velocity, resistivity, density, and magnetic mineral or fluid type in rock pores, greatly reducing the non-uniqueness of interpretation results from single geophysical data processing.

Those skilled in the art will appreciate that the embodiments described here are to help readers understand the principles of the present invention, and it should be understood that the protection scope of the present invention is not limited to such specific statements and embodiments. Various modifications and variations of the present invention will occur to those skilled in the art. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of the claims of the present invention.

Claims (6)

1. A fiber optic inertial navigation positioning and orientation system of a downhole multi-component geophysical survey instrument, comprising: the system comprises an optical fiber inertial navigation positioning and orientation system, a downhole multicomponent geophysical measuring instrument and a ground multichannel control and data acquisition subsystem; the downhole multi-component geophysical survey instrument includes a multi-component sensor; the optical fiber inertial navigation positioning and orientation system is fixed beside the multi-component sensor, and when the multi-component sensor works, the optical fiber inertial navigation positioning and orientation system records the real-time position, speed and gesture information of the multi-component sensor in real time;

the underground multi-component geophysical measuring instrument is one of an underground three-component transmitting three-component array receiving induction logging instrument, an underground single-stage comprehensive geophysical data acquisition system, a multi-stage array comprehensive geophysical data acquisition system, a single-stage comprehensive geophysical gradient data acquisition system and a three-component transmitting three-component receiving while-drilling induction logging instrument;

when the underground multi-component geophysical measuring instrument is in communication connection with the ground multi-channel control and data acquisition subsystem, the multi-component sensor of the underground multi-component geophysical measuring instrument uploads the actually measured multi-component geophysical data to the ground control and data acquisition processing subsystem, and the optical fiber inertial navigation positioning and orientation system uploads the real-time position, speed and gesture information of the actually measured multi-component sensor to the ground control and data acquisition processing subsystem; further comprises: the optical fiber inertial navigation positioning and orientation system is connected with the input end of the 32-bit analog-to-digital conversion circuit through the photoelectric conversion circuit, and the output end of the 32-bit analog-to-digital conversion circuit is connected with the memory; the output end of the 32-bit analog-to-digital conversion circuit is also connected with the input end of the photoelectric conversion circuit, and the output end of the photoelectric conversion circuit is connected with an armored photoelectric composite cable;

when the downhole multicomponent geophysical survey instrument is not communicatively coupled to the surface multichannel control and data acquisition subsystem, at least comprising: the memory and time service module is used for storing the actually measured multi-component geophysical data in the memory by a multi-component sensor of the underground multi-component geophysical measuring instrument; the optical fiber inertial navigation positioning and orientation system stores real-time position, speed and attitude information of the actually measured multi-component sensor in a memory after time service of a time service device; after the downhole multicomponent geophysical survey instrument is removed downhole, data in memory is transmitted to a surface multichannel control and data acquisition subsystem.

2. The system of claim 1, wherein the downhole multi-component geophysical survey instrument communicatively coupled to the surface multi-channel control and data acquisition subsystem is a downhole three-component transmitting three-component array receiving induction logging instrument comprising: a downhole multi-component instrument housing, a three-component electromagnetic transmitting coil, a three-component electromagnetic receiving coil, and a vertical electric field component sensor; the optical fiber inertial navigation positioning and orientation system is arranged between the three-component electromagnetic transmitting coil and the three-component electromagnetic receiving coil of the array; the output end of the vertical electric field component sensor is connected with the input end of the 32-bit analog-to-digital conversion circuit; the vertical electric field component sensor is realized by adopting a non-polarized electrode.

3. The system of claim 1, wherein the downhole multi-component geophysical survey instrument communicatively coupled to the surface multi-channel control and data acquisition subsystem is a single-stage array integrated geophysical data acquisition system comprising: a downhole multicomponent instrument housing, a three-component gravity sensor and a three-component magnetic field sensor; the optical fiber inertial navigation positioning and orientation system is arranged between the three-component gravity sensor and the three-component magnetic field sensor.

4. A fiber optic inertial navigation positioning and orientation system of a downhole multicomponent geophysical survey instrument of claim 3 wherein the downhole multicomponent geophysical survey instrument communicatively connected to the surface multichannel control and data acquisition subsystem is a multi-stage array integrated geophysical data acquisition system comprising a plurality of single-stage array integrated geophysical data acquisition systems in series.

5. The system of any one of claims 1-4, wherein the system is one of an interferometric fiber optic gyroscope configured inertial navigation system, a resonant fiber optic gyroscope configured inertial navigation system, an stimulated brillouin scattering fiber optic gyroscope configured inertial navigation system, a fiber optic gyroscope strapdown inertial navigation system, a fiber optic grating strapdown inertial navigation system, and a fiber optic gyroscope and micromechanical gyroscope combined inertial navigation system.

6. A method of processing fiber optic inertial navigation positioning orientation data of a downhole multi-component geophysical survey instrument based on the fiber optic inertial navigation positioning orientation system of claim 5, comprising:

s1, performing rotation processing on corresponding multi-component geophysical data according to the inclination angle, azimuth angle and tendency of a multi-component sensor of the underground multi-component geophysical measuring instrument, which are measured by an optical fiber inertial navigation positioning and orientation system; the step S1 specifically comprises the following steps:

s11, rotating the measured three-component geophysical data value to a position with a zero dip angle;

s12, rotating the three-component geophysical data value rotated in the step S11 to a position with an azimuth of zero degrees according to the azimuth of the measuring point;

s13, if three-component geophysical data are required to be rotated to the direction of the trend or the set section of the known geological body, when horizontal component rotation processing is carried out, only the horizontal component parallel to the ground is required to be rotated to the position that the included angle between the azimuth angle of one horizontal component and the direction of the trend or the set section of the geological body is zero;

s2, extracting three-component seismic wave velocity data, attenuation coefficients and anisotropic coefficients of rock or stratum in a well related to elastic properties according to the multi-component geophysical data subjected to the rotation processing in the step S1, extracting three-component resistivity data of the rock or stratum related to electromagnetic properties, extracting three-component gravity values and density parameters of the rock or stratum related to gravity properties, and extracting three-component magnetic parameters of the rock or stratum related to stratum magnetic properties;

s3, inversion imaging is carried out according to the three-component seismic wave velocity data, the three-component resistivity data, the three-component gravity value and the three-component magnetic field value extracted in the step S2, and distribution rules of elastic parameters, electrical parameters, density values and magnetic field intensity of the rock or stratum in the measuring point position distance range are obtained.

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