CN109882157B - Optical fiber inertial navigation system of underground multi-component measuring instrument and data processing method thereof - Google Patents
Optical fiber inertial navigation system of underground multi-component measuring instrument and data processing method thereof Download PDFInfo
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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 to the technical field of geophysical exploration and aim to solve the problem of real-time directional positioning of the existing underground multi-component geophysical measuring instrument in the continuous operation process; the invention comprises the following steps: 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 attitude information real-time azimuth of the multi-component sensor in real time; in addition, the data processing method provided by the invention can obtain the multidimensional data distribution or change of the measuring point position, and greatly reduce the non-uniqueness of the interpretation result of single geophysical data processing.
Description
Technical Field
The invention belongs to the technical field of geophysical exploration, and particularly relates to an optical fiber inertial navigation orientation and corresponding data processing technology of an underground multi-component geophysical instrument.
Background
The current well cable logging instrument, the well logging instrument while drilling, the well seismic instrument and the like widely used in the industry all adopt three-component electromagnetism, three-component gravity, three-component magnetic field and three-component seismic sensors respectively, the real-time directional positioning function of the instruments during the well operation is not completely solved, the real-time directional positioning data of the underground multi-component instrument sensors are not available, and the rotation and correction processing of the multi-component data collected in the well are not available in the later period. The three-component attitude sensor commonly used at present basically cannot work normally in a magnetic steel casing or on a steel drill collar because of the use of a magnetic field sensor. There is an urgent need to find a solution to the problem of real-time directional positioning of downhole multicomponent geophysical survey instruments during continuous operation.
The inertial navigation system (English: INS-Inertial Navigation System) is a navigation parameter resolving system which uses a gyroscope and an accelerometer to be sensitive devices, the system establishes a navigation coordinate system according to the output of the gyroscope, and the speed and the position of a carrier in the navigation coordinate system are resolved according to the output of the accelerometer.
An inertial navigation system, also called inertial reference system, is an autonomous navigation system that does not depend on external information nor radiate energy to the outside (as in radio navigation). The working environment not only comprises the air and the ground, but also can be underwater. The basic working principle of inertial navigation is based on Newton's law of mechanics, and information such as speed, yaw angle and position in a navigation coordinate system can be obtained by measuring acceleration of a carrier in an inertial reference system, integrating the acceleration with time and transforming the acceleration into the navigation coordinate system.
The inertial navigation system belongs to a dead reckoning navigation mode, namely, the position of the next point is calculated from the position of a known point according to the continuously measured course angle and speed of the moving body, so that the current position of the moving body can be continuously measured. The gyroscope in the inertial navigation system is used for forming a navigation coordinate system, so that the measuring axis of the accelerometer is stabilized in the coordinate system, and a course and an attitude angle are given; the accelerometer is used for measuring the acceleration of the moving body, the speed is obtained through one integration of time, and the displacement can be obtained through one integration of time.
Several navigation techniques are more common in modern times, including astronomical navigation, inertial navigation, satellite navigation, radio navigation, etc., of which only inertial navigation is autonomous, neither radiating things to the outside nor looking at stars in the sky or receiving external signals, the concealment of which is the best.
In the navigation of many strategic, tactical weapons of the country, such as civil aircraft for intercontinental flights, etc., it is necessary to rely on inertial navigation systems or a combination of inertial and other types of navigation systems. It is also relatively expensive to manufacture, at least hundreds of thousands of inertial navigation systems, such as a navigation class (i.e., 1 hour error 1 sea), and such precision navigation systems are adequate for deployment on an aircraft such as boeing 747. Now, with the advancement of MEMS (microelectromechanical systems) inertial device technology, commercial-grade, consumer-grade inertial navigation is gradually going into the ordinary home.
The inertial navigation system has the following advantages: 1. the system is an autonomous system which does not depend on any external information and does not radiate energy to the outside, so the system has good concealment and is not influenced by external electromagnetic interference; 2. all-weather and all-time operation can be realized in the air, on the earth surface or even under water; 3. the navigation system can provide position, speed, course and attitude angle data, and the generated navigation information has good continuity and low noise; 4. the data updating rate is high, and the short-term precision and the stability are good.
The defects are that: 1. because the navigation information is generated through integration, the positioning error is increased along with time, and the long-term precision is poor; 2. requiring a longer initial alignment time before each use; 3. the price of the equipment is relatively high; 4. no time information can be given.
However, inertial navigation has a fixed drift rate, which causes errors in the movement of the object, so that weapons with far ranges typically employ commands, GPS, etc. to correct the inertial navigation at fixed times to obtain continuously accurate position parameters. The inertial navigation system has developed various modes such as flexible inertial navigation, optical fiber inertial navigation, laser inertial navigation, micro solid inertial instrument and the like. The gyroscope is developed from a traditional winding gyroscope to an electrostatic gyroscope, a laser gyroscope, an optical fiber gyroscope, a micromechanical gyroscope and the like. The laser gyro has the advantages of wide dynamic range, good linearity, stable performance, good temperature stability and repeatability, and always occupies a dominant position in the application field of high precision. Due to technological progress, optical fiber gyroscopes (FOG) and micro-mechanical gyroscopes (MEMS) with lower cost are increasingly high in precision, which is the direction of the future gyroscopic technology development.
The fiber optic gyroscope is a fiber optic sensor for inertial navigation, and is called a solid-state gyroscope because of no moving part, namely a high-speed rotor. The novel all-solid-state gyroscope becomes a future dominant product and has wide development prospect and application prospect. The working principle of the fiber optic gyroscope is based on the Sagnac (Sagnac) effect. The sagnac effect is a common correlation of light propagating in a closed loop path that rotates relative to the inertial volume, i.e., two beams of light of equal characteristics that emanate from the same source in the same closed path propagate in opposite directions and eventually converge to the same detection point.
If there is a rotational angular velocity about an axis perpendicular to the plane in which the closed optical path lies, relative to the inertial space, the optical path traveled by the light beam traveling in the forward and reverse directions differs, resulting in an optical path difference that is proportional to the rotational angular velocity. Therefore, the rotation angular velocity can be obtained by knowing the optical path difference and the information of the phase difference corresponding to the optical path difference.
Compared with an electromechanical gyro or a laser gyro, the optical fiber gyro has the following characteristics:
(1) The parts are few, the instrument is firm and stable, and the instrument has stronger shock resistance and acceleration movement resistance;
(2) The wound optical fiber is longer, so that the detection sensitivity and resolution are improved by several orders of magnitude compared with a laser gyroscope;
(3) No mechanical transmission part exists, and no abrasion problem exists, so that the service life is long;
(4) The integrated optical circuit technology is easy to be adopted, the signal is stable, and the digital output can be directly used and connected with a computer interface;
(5) Different accuracies can be realized by changing the length of the optical fiber or the circulation propagation times of light in the coil, and the optical fiber has wider dynamic range;
(6) The propagation time of the coherent light beam is short, so that the coherent light beam can be started instantly in principle without preheating;
(7) The sensor can be used together with a ring laser gyro to form various sensors of an inertial navigation system, in particular to a sensor of a strapdown inertial navigation system;
(8) Simple structure, low price, small volume and light weight.
The fiber optic gyroscope is disclosed in the patent application number: the applications 201410832135.5, 201820019320.5, 201410599074.1, 201610810893.5, 201710561353.2, 200910073220.6, 201620080843.1, 201410080780.5 and the like are all well applied.
But the fiber inertial navigation system cannot give time information.
Disclosure of Invention
In order to solve the problem of real-time orientation and positioning of an underground multi-component geophysical measuring instrument in a continuous operation process, the invention provides an optical fiber inertial navigation positioning and orientation system of the underground multi-component geophysical measuring instrument, which is used for carrying out real-time positioning and orientation on the underground multi-component geophysical measuring instrument by installing the optical fiber inertial navigation positioning and orientation system in the underground multi-component geophysical measuring instrument and providing important support data for processing and interpretation of underground measured multi-component geophysical data.
Aiming at the multi-component geophysical data acquired by the optical fiber inertial navigation positioning and orientation system of the underground multi-component geophysical measuring instrument, the invention also provides a data processing method which can realize comprehensive exploration and multi-parameter comprehensive evaluation of underground geological structures, oil gas resources, metal mineral resources, groundwater resources and engineering geological requirements.
One of the technical schemes adopted by the invention is as follows: a fiber optic inertial navigation positioning and orientation system of a downhole multicomponent 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;
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;
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 underground multi-component geophysical measuring instrument is taken out from the underground, transmitting the data in the memory to a ground multi-channel control and data acquisition subsystem;
the communication connection is specifically connected through an armored photoelectric composite cable.
Wherein, the downhole multicomponent geophysical survey instrument in communication with the surface multichannel control and data acquisition 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.
A downhole multi-component geophysical survey instrument in communication with a surface multi-channel control and data acquisition subsystem for 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.
The downhole multicomponent geophysical survey instrument in communication with the surface multichannel 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.
The underground multi-component geophysical measuring instrument which is in communication connection with the ground multi-channel control and data acquisition subsystem is a multi-stage array type comprehensive geophysical data acquisition system and comprises a plurality of single-stage array type comprehensive geophysical data acquisition systems which are connected in series.
The optical fiber inertial navigation positioning and orientation system is one of an inertial navigation system formed by an interference type optical fiber gyroscope, an inertial navigation system formed by a resonant type optical fiber gyroscope, an inertial navigation system formed by a stimulated Brillouin scattering optical fiber gyroscope, an optical fiber gyroscope strapdown inertial navigation system, an optical fiber grating strapdown inertial navigation system and an inertial navigation system combined by an optical fiber gyroscope and a micromechanical gyroscope.
The invention adopts another technical scheme that: a fiber inertial navigation positioning and orientation data processing method of a downhole multi-component geophysical measuring instrument comprises the following steps:
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;
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 rocks or strata in a certain distance range of the measuring point position are obtained.
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;
and S13, if the three-component geophysical data are required to be rotated to the direction of the trend or the preset section of the known geological body, when the 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 preset section of the geological body is zero.
The invention has the beneficial effects that: the system of the invention provides two schemes for solving the problem of real-time directional positioning of underground measurement, when an armored photoelectric composite cable is used for connecting an underground multi-component geophysical measuring instrument with a ground multi-channel control and data acquisition subsystem for communication, the real-time directional positioning of the multi-component geophysical measuring instrument is realized by transmitting the acquired multi-component geophysical data and the real-time position, speed and gesture information of an optical fiber inertial navigation positioning and orientation system to the ground multi-channel control and data acquisition subsystem through the armored photoelectric composite cable in real time; when the multi-component geophysical measuring instrument while drilling is not connected with the ground multi-channel control and data acquisition subsystem for communication, the acquired multi-component geophysical data and the real-time position, speed and gesture information of the optical fiber inertial navigation positioning and orientation system are processed together and then stored in a memory of the underground multi-component geophysical measuring instrument, so that the real-time positioning of the multi-component geophysical measuring instrument is realized; the invention has the following advantages:
1. the three-component electromagnetic logging instrument, the multipole or three-component acoustic logging instrument, the three-component magnetic field logging instrument, the three-component borehole gravity instrument, the three-component borehole seismic data acquisition instrument, the three-component electromagnetic or three-component acoustic or three-component seismic instrument while drilling and the like can record the real-time azimuth and position coordinate information of each three-component sensor in real time during downhole data acquisition operation, so that the subsequent data processing and interpretation work are facilitated;
2. the underground three-component electromagnetic emission and the array three-component magnetic field and the vertical electric field component are synchronously collected;
3. performing rotary projection processing on multi-component data acquired at different depth positions according to the actually measured positioning and orientation data;
4. performing mutual constraint inversion or joint inversion on the measured three-component seismic data, three-component and controllable source electromagnetic data, three-component gravity data and three-component magnetic field data in the well to obtain more reliable distribution and change of geological structure, rock speed, resistivity, density and fluid type in magnetic minerals or rock pores within a certain range of measuring point positions, thereby greatly reducing non-uniqueness of single geophysical data processing interpretation results;
5. when the multi-component geophysical measuring instrument is connected to the ground multi-channel control and data acquisition subsystem for communication without an armored photoelectric composite cable, a chip atomic clock or a high-precision constant-temperature crystal oscillator is adopted to carry out real-time service on optical fiber inertial navigation data and acquired multi-component data.
Drawings
FIG. 1 is a schematic diagram of a downhole three-component transmitting three-component array receiving induction logging instrument of the present invention;
FIG. 2 is a schematic diagram of a downhole single-stage integrated geophysical data acquisition system according to the present invention;
FIG. 3 is a schematic diagram of an electromagnetic or integrated geophysical data acquisition system in a downhole multilevel array well according to the present invention;
FIG. 4 is a schematic diagram of an electromagnetic or integrated geophysical data acquisition system and a surface dipole current source layout in a downhole multi-stage array well of the present invention;
FIG. 5 is a schematic diagram of an electromagnetic or integrated geophysical data acquisition system in a downhole multilevel array well and ground-based return current source layout according to the present invention;
FIG. 6 is a schematic diagram of a downhole single-stage integrated geophysical gradient data acquisition system according to the present invention;
FIG. 7 is a schematic diagram of a downhole three-component transmitting three-component receiving while-drilling induction logging instrument of the present invention;
FIG. 8 is a schematic block diagram of a downhole three-component transmitting three-component array receiving induction logging instrument and a surface control excitation and data receiving system of the present invention.
Reference numerals illustrate: 1 is a ground logging instrument vehicle; 2 is a ground emission vehicle for driving a ground large loop emission 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 atomic clock chip; 5 is an armored photoelectric composite cable connected with a downhole multi-component instrument; 6 is a 32-bit analog-to-digital conversion circuit and a memory which are connected with the optical fiber inertial navigation sensor device; 7 is drilling; 11 is a three-component transmitting three-component array receiving induction logging instrument shell; 12 is a three-component electromagnetic transmitting coil of the array induction logging instrument; 14 is a three-component electromagnetic receiving coil of the array induction logging instrument; 15 is a non-polarized electrode for receiving the vertical electric field component of the array induction logging instrument; 16 is a ground large current source control excitation unit; reference numeral 17 denotes a ground multichannel control and data receiving unit; 21 is a single-stage integrated geophysical data acquisition system housing; 27 is a three component gravity sensor; 28 is a three component magnetic field sensor; 31 is a photoelectric conversion module; 41 is a ground dipole current source transmitting antenna; 51 is a ground large loop transmitting coil; reference numeral 61 denotes a single-stage integrated geophysical gradient data acquisition system housing; 67 is a three component gravity sensor; 68 is a three component magnetic field sensor; 70 is a logging while drilling instrument housing; 71 is a sensor mounting bracket in the logging while drilling instrument; 72. a drilling mud channel inside the logging while drilling instrument; 73 is a roller cone bit of the logging while drilling instrument; reference numeral 74 denotes a vertical magnetic field component transmitting coil; 75 is a 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 Description
The present invention will be further explained below with reference to the drawings in order to facilitate understanding of technical contents of the present invention to those skilled in the art.
The invention relates to an optical fiber inertial navigation positioning and orientation system of a downhole multi-component geophysical measuring instrument, which comprises: the system comprises a ground control and data acquisition processing subsystem, a shaft data transmission communication subsystem, an underground multi-component geophysical measuring instrument and an underground high-temperature-resistant high-precision optical fiber inertial navigation subsystem. The high-temperature-resistant high-precision optical fiber inertial navigation subsystem measures the acceleration and the angular velocity of the underground multi-component geophysical measuring instrument during movement, the acceleration and the angular velocity information of the underground multi-component geophysical measuring instrument are obtained through resolving through the inertial system, data are uploaded to the ground control and data acquisition processing subsystem through a photoelectric composite cable connected with the underground multi-component geophysical measuring instrument, and the information uploaded by the optical fiber inertial navigation subsystem is processed through the ground control and data acquisition processing subsystem, so that the real-time position, speed and attitude information of the underground multi-component geophysical measuring instrument during data acquisition operation is obtained. The invention fully utilizes the high-temperature-resistant high-precision optical fiber inertial navigation sensing technology, which comprises the following steps: the anti-interference capability is strong, the reliability is high, the measuring accuracy is high, the real-time performance is high, the error is small, the well bore depth and the well bore internal condition are avoided, and the well bore has the advantages of being affected by the slip, the elastic elongation, the peristaltic motion and the like of the magnetic steel sleeve, the magnetic steel drill collar, the lifting steel wire rope or the armored photoelectric composite cable.
The present embodiment gives five implementations of downhole multicomponent geophysical measuring instruments: the structure of the underground three-component transmitting three-component array receiving induction logging instrument shown in fig. 1, the underground single-stage integrated geophysical data acquisition system shown in fig. 2, the multi-stage array integrated geophysical data acquisition system shown in fig. 3, the single-stage integrated geophysical gradient data acquisition system shown in fig. 6 and the three-component transmitting three-component receiving induction logging instrument shown in fig. 7.
FIG. 1 is a schematic diagram of a downhole three-component transmitting three-component array receiving induction logging instrument according to the present invention, comprising: the underground three-component transmitting three-component array receiving induction logging instrument comprises an underground three-component transmitting three-component array receiving induction logging instrument shell 11, an array induction logging instrument three-component electromagnetic transmitting coil 12, an optical fiber inertial navigation positioning and orientation system 3, an array induction logging instrument three-component electromagnetic receiving coil 14, an array induction logging instrument vertical electric field component receiving non-polarized electrode 15 and an armored photoelectric composite cable 5 connected with an underground multi-component instrument.
The optical fiber inertial navigation positioning and orientation system 3 is arranged between the three-component electromagnetic transmitting coil 12 and the array three-component electromagnetic receiving coil 14, is used for measuring and recording real-time azimuth and position coordinate information of all measuring points of the three-component transmitting three-component array receiving induction logging instrument in the operation process in the well in real time, and uploads the underground three-component induction electromagnetic data measured by the three-component transmitting three-component array receiving induction logging instrument to a computer in the logging instrument vehicle 1 at the well head together in real time through the armored photoelectric composite cable 5 for storage, so that the subsequent data processing is facilitated.
As shown in fig. 2, the downhole single-stage integrated geophysical data acquisition system of the present invention comprises: the underground single-stage comprehensive geophysical data acquisition system comprises an underground single-stage comprehensive geophysical data acquisition system shell 21, an optical fiber inertial navigation positioning and orientation system 3, an armored photoelectric composite cable 5 connected with underground multi-component instruments, a three-component gravity sensor 27 and a three-component magnetic field sensor 28.
The optical fiber inertial navigation positioning and orientation system 3 is arranged between a three-component gravity sensor 27 and a three-component magnetic field sensor 28 of the single-stage comprehensive geophysical data acquisition system, is used for measuring and recording real-time azimuth and position coordinate information of all measuring points of the underground single-stage comprehensive geophysical data acquisition system in the operation process, and uploads underground three-component electromagnetic induction data measured by the array induction logging instrument to a computer in a logging instrument vehicle 1 at a wellhead in real time through an armored photoelectric composite cable 5 for storage, so that subsequent data processing is facilitated.
As shown in FIG. 3, the multi-stage array type comprehensive geophysical data acquisition system at least comprises 2 single-stage comprehensive geophysical data acquisition systems, and the single-stage comprehensive geophysical data acquisition systems are connected in series.
The logging instrument shown in fig. 1, 2, 3 further comprises: the 32-bit analog-to-digital conversion circuit, the memory 6 and the photoelectric conversion module 31 are used for converting the acquired signals into digital signals through the 32-bit analog-to-digital conversion circuit and synchronously storing the digital signals in the memory, meanwhile, the converted digital signals are converted into optical signals through the photoelectric conversion module 31, and then the converted optical signals are transmitted to the multichannel control and data receiving unit 17 on the ground by utilizing the armored photoelectric composite cable 5 for quality monitoring.
In this embodiment, two ground dipole current source layout modes of the multi-stage array type comprehensive geophysical data acquisition system are provided, where the two ground dipole current source layout modes are respectively: a ground dipole current source transmitting antenna 41 as shown in fig. 4, and a ground large loop transmitting coil 51 as shown in fig. 5; when the ground-laid dipole current source transmitting antenna 41 or the ground-laid large loop transmitting coil 51 works, real-time azimuth and position coordinate information of all measuring points of the underground multi-stage array type three-component gravity and three-component magnetic field composite geophysical data acquisition instrument in the working process are measured and recorded in real time, and underground three-component gravity and three-component electromagnetic induction data measured by the multi-stage array type comprehensive geophysical data acquisition system are uploaded to a computer in the wellhead logging instrument vehicle 1 together in real time through the armored photoelectric composite cable 5 to be stored, so that subsequent data processing is facilitated. The ground-mounted large loop transmitter coil 51 is driven by the ground-mounted vehicle 2.
For geophysical gradient data acquisition, the present invention takes a single-stage integrated geophysical data acquisition system as an example, and as shown in fig. 6, the downhole single-stage integrated geophysical gradient data acquisition system of the present invention comprises: the single-stage comprehensive geophysical gradient data acquisition system comprises a shell 61, an optical fiber inertial navigation positioning and orientation system 3, an armored photoelectric composite cable 5 connected with a downhole multicomponent instrument, a three-component gravity sensor 67 and a three-component magnetic field sensor 68. The optical fiber inertial navigation positioning and orientation system 3 is arranged between a three-component gravity sensor 67 and a three-component magnetic field sensor 68 in the underground comprehensive geophysical gradient data acquisition system, is used for measuring and recording real-time azimuth and position coordinate information of all measuring points of the single-stage comprehensive geophysical gradient data acquisition system in the operation process in real time, and uploads underground three-component gravity gradients and three-component magnetic field gradient data measured by the underground single-stage comprehensive geophysical gradient data acquisition system into a computer in a logging instrument vehicle 1 at a wellhead together in real time through an armored photoelectric composite cable 5 for storage, so that subsequent data processing is facilitated.
As shown in fig. 7, the downhole three-component transmitting three-component receiving while-drilling induction logging instrument of the present invention comprises: the device comprises a logging while drilling instrument shell 70, a sensor fixing support 71 in the logging while drilling instrument, a drilling mud channel 72 in the logging while drilling instrument, a roller bit 73 of the logging while drilling instrument, a fiber optic inertial navigation positioning and orientation system 3, a 32-bit analog-digital conversion circuit and a memory 6 connected with a fiber optic inertial navigation sensor device, a high-temperature-resistant high-precision constant-temperature crystal oscillator or chip-level atomic clock 4, a vertical magnetic field component transmitting coil 74, a first horizontal magnetic field component transmitting coil 75, a second horizontal magnetic field component transmitting coil 76, a vertical magnetic field component receiving coil 77, a first horizontal magnetic field component receiving coil 78 and a second horizontal magnetic field component receiving coil 79.
The optical fiber inertial navigation positioning and orientation system 3 is arranged between three-component magnetic field component transmitting coils 74, 75 and 76 and three-component magnetic field receiving coils 77, 78 and 79 in the three-component while-drilling induction logging instrument, and the high-temperature-resistant high-precision constant-temperature crystal oscillator or chip-level atomic clock 4 is arranged below the optical fiber inertial navigation positioning and orientation system 3. The optical fiber inertial navigation positioning and orientation system 3 is used for measuring and recording real-time azimuth and position coordinate information of all measuring points of the three-component while-drilling induction logging instrument in the drilling operation process in real time, the 32-bit analog-to-digital conversion circuit and the memory 6 which are connected with the optical fiber inertial navigation sensor device are used for converting real-time position, speed and gesture information of the underground multi-component geophysical data and the multi-component sensor in the measuring instrument into digital signals through the analog-to-digital conversion circuit and then storing the digital signals in the memory, and the high-precision constant-temperature crystal oscillator or the chip-level atomic clock is used for carrying out time service on the real-time position, speed and gesture information recorded by the optical fiber inertial navigation sensor device.
After the while-drilling instrument is taken out of the well bore, the real-time position, speed and attitude information of the multi-component geophysical data and the multi-component sensor, which are stored in the while-drilling multi-component geophysical measuring instrument and are actually measured underground, are transmitted to a ground control and data acquisition processing subsystem, so that subsequent data processing is facilitated.
The working principle of the logging instrument is described by taking an underground three-component transmitting three-component array receiving induction logging instrument as an example; FIG. 8 is a schematic block diagram of a downhole three-component transmitting three-component array receiving induction logging instrument and surface control excitation and data receiving system of the present invention. Comprising the following steps: the optical fiber inertial navigation positioning and orientation system 3 is connected with an armored photoelectric composite cable 5 of a downhole multi-component instrument, and is a three-component electromagnetic transmitting coil 12 of an array induction logging instrument, a three-component electromagnetic receiving coil 14 of the array induction logging instrument, a non-polarized electrode 15 for receiving a vertical electric field component of the array induction logging instrument, a ground large current source control excitation unit 16, a ground multi-channel control and data receiving unit 17, a photoelectric conversion module 31, a multi-channel 32-bit analog-to-digital conversion circuit and a memory 6; the working principle is as follows: when the underground three-component transmitting three-component array receiving induction logging instrument goes down to the bottom of the well and can start to collect data, the optical fiber inertial navigation positioning and orientation system 3 arranged in the middle of the instrument synchronously starts to measure and record the real-time azimuth, position and inclination angle of the underground instrument at the moment and transmits the real-time azimuth, position and inclination angle to the ground multichannel control and data receiving unit 17. The ground large current source control excitation unit 16 starts to transmit preset exciting current to the three-component electromagnetic transmitting coil 12 of the underground three-component transmitting three-component array receiving induction logging instrument through the armored photoelectric composite cable 5, so that the transmitting coil generates a three-component exciting magnetic field, and meanwhile, the three-component electromagnetic receiving coil 14 of the array induction logging instrument starts to synchronously receive a three-component primary (exciting) magnetic field signal generated by the exciting current transmitted by the three-component transmitting coil, and at the moment, secondary induction current generated by a stratum under the three-component exciting magnetic field signal generates a secondary induction magnetic field in the three-component receiving coil. Meanwhile, the vertical electric field component of the array induction logging instrument receives a primary vertical electric field signal generated by an excitation magnetic field emitted by a three-component transmitting coil and a signal of a secondary induction field generated by a stratum under the three-component excitation magnetic field signal by using a non-polarized electrode pair 15. 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 through the multi-channel 32-bit analog-to-digital conversion circuit and the memory 6 and synchronously stored in the memory, meanwhile, the converted digital signals are converted into optical signals through the photoelectric conversion module 31, and then the converted optical signals are transmitted to the multi-channel control and data receiving unit 17 on the ground by using the armored photoelectric composite cable 5 for quality monitoring (QC) and storage so as to facilitate later processing.
The multi-component geophysical data in this embodiment may 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 wave data, three-component seismic data, and the like.
The high-temperature-resistant high-precision optical fiber inertial navigation device can be one of an inertial navigation system formed by an interference type optical fiber gyroscope (I-FOG), an inertial navigation system formed by a resonance type optical fiber gyroscope (R-FOG), an stimulated Brillouin scattering optical fiber gyroscope (B-FOG), a formed inertial navigation system optical fiber gyroscope strapdown inertial navigation system, an optical fiber grating strapdown inertial navigation system and an inertial navigation system combined by an optical fiber gyroscope and a micromechanical gyroscope.
The invention collects multi-component geophysical data for each measuring point in the well and collects inertial navigation data by using a high-precision optical fiber inertial navigation device at the same side measuring point position. And then, an operator moves the underground multicomponent geophysical measuring instrument to the position of the next predesigned measuring point to perform data acquisition operation until the data acquisition operation of all measuring points in the well is completed.
The positioning and orientation system can realize real-time positioning of the positions of each sensor, and rotary projection processing is carried out on multi-component data acquired at different depth positions according to the actually measured positioning and orientation data during subsequent data processing; the specific data processing process is as follows:
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;
and (3) carrying out rotation processing on all multi-component geophysical data collected underground one by one, so that the vertical components of the three-component geophysical data are vertical to the horizontal ground, and the two horizontal components are changed into one horizontal component to be north-south, and the other horizontal component to be east-west. Or one horizontal component is parallel to the direction of the geologic body or the preset section direction through rotation treatment, and the other horizontal component is perpendicular to the direction of the geologic body or the section direction and parallel to the ground.
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;
the three-component seismic wave velocity data, attenuation coefficient and anisotropy coefficient of the rock or stratum in the well related to the elastic property, the three-component resistivity data of the rock or stratum related to the electromagnetic property, the three-component gravity data, density parameter of the rock or stratum related to the gravity property and the three-component magnetic parameter of the rock or stratum related to the stratum magnetic property can be extracted by processing the three-component controllable source electric field data, the three-component controllable source magnetic field data, the three-component resistivity data, the three-component polarizability data, the three-component gravity data, the three-component magnetic field data, the three-component acoustic wave data, the three-component seismic wave data and the like of the well after projection and rotation through the steps of forward modeling, inversion calculation and the like.
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 rocks or strata in a certain distance range of the measuring point position are obtained.
Inversion imaging is carried out on 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 position in the well, and the distribution rule of the elastic parameter, the electrical parameter, the density value and the magnetic field intensity of the rock or stratum within a certain distance range of the measuring point position is obtained.
According to the obtained distribution rules of the speed value, the resistivity value and the density value of the rock or stratum, the explanation and evaluation of the distribution characteristics and rules of geological structures, oil gas contained in the rock or stratum or high-density minerals in a certain range of the measuring point positions are realized. According to the obtained distribution rule of the magnetic field intensity of the rock or stratum, the explanation and evaluation of the distribution characteristics and rule of the magnetic minerals of the rock or stratum in a certain range of the measuring point position are realized.
The optical fiber inertial navigation positioning and orientation system and the data processing method of the underground multi-component geophysical measuring instrument can enable the underground multi-component geophysical measuring instrument to detect the geological structure, the rock stratum or the speed, the resistivity, the density and the distribution rule of magnetic minerals in a larger range below the measuring point position, can improve the resolution capability of a target geological body, greatly reduce the interference of various artificial noises on comprehensive geophysical measurement data, improve the signal-to-noise ratio of the comprehensive geophysical measurement data, can provide the formation attitude information, know the spatial distribution state of the high-density or high-magnetic geological body, and realize the comprehensive interpretation and evaluation of the speed, the resistivity, the density and the magnetic parameters of a reservoir or minerals. The three-component seismic data, the three-component and controllable source electromagnetic data, the three-component gravity data and the three-component magnetic field data in the well are subjected to mutual constraint inversion or joint inversion, so that more reliable distribution and change of geological structure, rock speed, resistivity, density and fluid type in magnetic minerals or rock pores in a certain range of measuring point positions can be obtained, and the non-uniqueness of a single geophysical data processing interpretation result is greatly reduced.
The optical fiber inertial navigation positioning and orientation system and the data processing method of the underground multi-component geophysical measuring instrument can enable the underground multi-component geophysical measuring instrument to detect the geological structure, the rock stratum or the speed, the resistivity, the density and the distribution rule of magnetic minerals in a larger range below the measuring point position, can improve the resolution capability of a target geological body, greatly reduce the interference of various artificial noises on comprehensive geophysical measurement data, improve the signal-to-noise ratio of the comprehensive geophysical measurement data, can provide the formation attitude information, know the spatial distribution state of the high-density or high-magnetic geological body, and realize the comprehensive interpretation and evaluation of the speed, the resistivity, the density and the magnetic parameters of a reservoir or minerals. The three-component seismic data, the three-component and controllable source electromagnetic data, the three-component gravity data and the three-component magnetic field data in the well are subjected to mutual constraint inversion or joint inversion, so that more reliable distribution and change of geological structure, rock speed, resistivity, density and fluid type in magnetic minerals or rock pores in a certain range of measuring point positions can be obtained, and the non-uniqueness of a single geophysical data processing interpretation result is greatly reduced.
Those of ordinary skill in the art will recognize that the embodiments described herein are for the purpose of aiding the reader in understanding the principles of the present invention and should be understood that the scope of the invention is not limited to such specific statements and embodiments. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in 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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