CN110849403B - Calibration method of directional sensor - Google Patents

Calibration method of directional sensor Download PDF

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CN110849403B
CN110849403B CN201910969321.5A CN201910969321A CN110849403B CN 110849403 B CN110849403 B CN 110849403B CN 201910969321 A CN201910969321 A CN 201910969321A CN 110849403 B CN110849403 B CN 110849403B
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calibration
sensor
magnetic
helmholtz coil
magnetic field
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孟卓然
朱军
王飞
成淑云
吴瑶
贾桑
郭瑛
崔宏生
牒勇
鲁晔
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China National Petroleum Corp
China Petroleum Logging Co Ltd
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China Petroleum Logging Co Ltd
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    • G01—MEASURING; TESTING
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Abstract

The invention discloses a calibration method of a directional sensor, and belongs to the field of calibration of directional sensors. The calibration method of the directional sensor comprises the steps that the directional sensor is arranged on a heating calibration turntable; adjusting a three-axis Helmholtz coil to generate a magnetic field, and offsetting an extra magnetic field after an environmental static magnetic field, wherein the magnetic induction intensity of the extra magnetic field is equal to the geomagnetic induction intensity, and the direction of the magnetic induction intensity is the same as the direction of a gravity field; adjusting the temperature and the triaxial angle of the heating calibration turntable to acquire the acquisition data of the directional sensor; the method for calibrating the directional sensor by adopting the total field calibration method solves the problem that the data of the magnetic sensor and the acceleration sensor need to be repeatedly acquired in the calibration process due to different directions of the environmental magnetic field and the earth gravity field, simplifies the calibration process and improves the calibration efficiency of the directional sensor.

Description

Calibration method of directional sensor
Technical Field
The invention belongs to the field of calibration of underground directional sensors in the petroleum industry, and particularly relates to a calibration method of a directional sensor.
Background
In the oil drilling and well logging industry, the orientation sensor based on the structure of the magnetic sensor and the acceleration sensor is generally adopted to measure the attitude of underground equipment, and the measurement accuracy of the orientation sensor influences the precision of a well track. In order to ensure the measurement accuracy, the source tracing calibration of each sensor of the orientation sensor is required.
Currently, the orientation sensor based on acceleration and magnetic sensor structure in the petroleum industry usually adopts the method of total field calibration (total field calibration). According to the method, a magnetic sensor and an acceleration sensor are calibrated independently by using a standard earth magnetic field and a gravity field respectively through changing the space attitude of an orientation sensor. The method uses an environmental magnetic field for tracing, and has harsh requirements on the magnetic field environment; in addition, because the environmental magnetic field and the earth gravity field are not in the same direction, the calibration process needs to repeatedly acquire data of a plurality of spatial attitudes.
Disclosure of Invention
The invention aims to overcome the defect that a magnetic sensor and an acceleration sensor need to be calibrated separately in the calibration process of an orientation sensor, and provides a calibration method of the orientation sensor.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a calibration method of an orientation sensor comprises the following steps:
1) calibrating and heating the horizontal posture of the calibration turntable by using a level meter;
2) placing a three-axis magnetic sensor on a heating calibration rotary table, placing a three-axis Helmholtz coil at the periphery of the heating calibration rotary table, and calibrating the calibration coefficient, zero offset and orthogonality of the three-axis Helmholtz coil by using the three-axis magnetic sensor;
3) placing the orientation sensor on a heating calibration turntable;
adjusting a three-axis Helmholtz coil to generate a magnetic field, and offsetting an extra magnetic field after an environmental static magnetic field, wherein the magnetic induction intensity of the extra magnetic field is equal to the geomagnetic induction intensity, and the direction of the magnetic induction intensity is the same as the direction of a gravity field;
adjusting the temperature and the three-axis angle of the heating calibration turntable, and acquiring the acquisition data of the orientation sensor under different postures;
and calibrating the directional sensor by adopting a data processing method of total field calibration.
Further, when the total field calibration method is adopted in the step 3) to calibrate the directional sensor, the magnetic sensor and the acceleration sensor are calibrated at the same time.
Further, the process of calibrating the directional sensor by using the total field calibration method in the step 3) is as follows:
adjusting the three-axis Helmholtz coil to enable the output magnetic field to meet the total field value calibration requirement, and acquiring the acquisition data of the directional sensor and merging the acquisition data into a corresponding calibration model;
operating a calibration model by using a calibration program, and solving a calibration factor, a zero offset and an orthogonal offset of the sensor;
and calibrating the orientation sensor according to the data.
Further, the specific process of calibrating the calibration coefficient and the zero offset of the triaxial helmholtz coil by using the triaxial magnetic sensor in the step 2) is as follows:
adjusting the three-axis Helmholtz coil to offset the ambient static magnetic field at XB、YB、ZBTwo vector magnetic fields with equal size and opposite directions are respectively generated on the shaft;
adjusting the calibration coefficient of the triaxial Helmholtz coil until the set value of the triaxial Helmholtz coil is equal to the measured value of the triaxial magnetic sensor, and the measured value of the triaxial magnetic sensor is XB1、YB1、ZB1And XB2、YB2、ZB2；
Adjusting zero offset of three-axis Helmholtz coil to make XBmin、YBmin、ZBminIs a minimum value, wherein XBmin＝XB1+XB2，YBmin＝YB1+YB2，ZBmin＝ZB1+ZB2。
Further, the specific process of calibrating the orthogonality of the triaxial helmholtz coil by using the triaxial magnetic sensor in step 2) is as follows:
adjusting the three-axis Helmholtz coil to be at X after counteracting the ambient static magnetic fieldB、YB、ZBEach of which generates a magnetic field in the axial direction, and the corresponding measured values of the three-axis magnetic sensors are XB3、YB3、ZB3；
By observing the measured value of the three-axis magnetic sensor, three axes of the heating calibration turntable are rotated along the direction of the vector magnetic field, and the orthogonality of the three-axis Helmholtz coil is adjusted until the vector magnetic field X generated by the three-axis Helmholtz coilBParallel to the measured value XB3Vector magnetic field YBParallel to the measured value YB3，ZBThe axis being parallel to the measured value ZB3。
Further, the heating calibration turntable was a Model 1503-TS-SPL calibration turntable from IDEAL AEROSMITH.
Further, the three-axis magnetic sensor is mag-03 or mag-13 of Bartington.
Further, the three-axis magnetic sensor is subjected to standard magnetic source tracing processing.
Compared with the prior art, the invention has the following beneficial effects: according to the calibration method of the directional sensor, the magnetic field direction of the three-axis Helmholtz coil is adjusted, so that the magnetic field and the gravitational field are in the same direction, the heating calibration turntable is rotated, the collected data of the magnetic sensor and the acceleration sensor of the directional sensor can be simultaneously obtained at the same position, the data is processed by the total field calibration method, the calibration value is obtained for calibration, the problem that the data of the magnetic sensor and the acceleration sensor need to be repeatedly collected in the calibration process due to the fact that the environmental magnetic field and the earth gravitational field are in different directions is solved, the calibration process is simplified, and the calibration efficiency of the directional sensor is improved; furthermore, the calibration accuracy of the directional sensor is improved by adjusting the magnetic field tracing source and the magnetic field direction of the three-axis Helmholtz coil; the calibration method of the directional sensor provided by the invention can provide calibration data under any magnetic inclination angle and temperature for the directional sensors of petroleum engineering logging and drilling.
Drawings
FIG. 1 is a schematic flow chart diagram of an embodiment of a calibration method for an orientation sensor of the present invention;
FIG. 2 is a schematic illustration of a three-axis Helmholtz coil during calibration;
FIG. 3 is a diagram of a three-axis Helmholtz coil X being calibratedBSchematic representation of shaft null and scale factor;
FIG. 4 is a schematic diagram of the correction of quadrature bias for a three-axis Helmholtz coil;
FIG. 5 is a schematic structural view of the orientation sensor mounted on a heating calibration turntable;
FIG. 6 is a schematic structural view of a heating calibration turntable;
fig. 7 is a schematic structural diagram of the orientation sensor.
Wherein: 1-a three-axis helmholtz coil; 2-heating calibration turntable; 3-a three-axis magnetic sensor; 4-a level meter; 5-a directional sensor; 501-a magnetic sensor; 502-acceleration sensor.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a calibration method of an orientation sensor of the present invention, including the following steps:
s1, tracing to source of three-axis magnetic sensor in standard magnetic source
This step ensures the measurement accuracy and precision of the triaxial magnetic sensor itself, as well as the validity of the magnetic measurement data conducted to the triaxial Helmholtz coils and the directional sensor.
S2, calibrating magnetic field of triaxial Helmholtz coil by utilizing triaxial magnetic sensor
The magnetic field of the three-axis Helmholtz coil is calibrated into a calibration coefficient, zero offset and orthogonality of the three-axis Helmholtz coil 1; firstly, calibrating and heating the orientation of the calibration turntable 2; referring to fig. 2, fig. 2 is a schematic diagram of a triaxial helmholtz coil during calibration, a triaxial magnetic sensor 3 after source tracing calibration is fixed on a heating calibration turntable 2, and after an environmental static magnetic field is cancelled by a triaxial helmholtz coil 1, the triaxial helmholtz coil 1 is calibrated at XBA vector magnetic field is generated in the axial direction, and the orientation of the heating calibration turntable 2 is adjusted by observing the measured value of the three-axis magnetic sensor 3, so that the north measuring direction of the heating calibration turntable is aligned with the X of the three-axis Helmholtz coil 1BPositive direction of axial vector magnetic field;
the specific process of calibrating the calibration coefficient and the zero offset of the triaxial Helmholtz coil 1 is as follows:
referring to FIG. 3, FIG. 3 illustrates a three-axis Helmholtz coil X being calibratedBSchematic diagram of the principle of the null offset and scale factor of the shaft, after the three-axis Helmholtz coil 1 cancels the ambient static magnetic field, at XB、YB、ZBTwo vector magnetic fields with equal size and opposite directions are respectively generated on the shaft; the observed measurement value at the three-axis magnetic sensor 3 is XB1、YB1、ZB1And XB2、YB2、ZB2(ii) a Adjusting the calibration coefficient and zero offset of the three-axis Helmholtz coil 1 to make the set value of the three-axis Helmholtz coil 1 equal to the measured value of the three-axis magnetic sensor 3 and make X equal to the measured valueBmin、YBmin、ZBminIs a minimum value, wherein:
XBmin＝XB1+XB2 (1)
YBmin＝YB1+YB2 (2)
ZBmin＝ZB1+ZB2 (3)
the specific process of calibrating the orthogonality of the triaxial Helmholtz coil 1 is as follows:
referring to FIG. 4, FIG. 4 is a schematic diagram of the correction of quadrature bias for a three-axis Helmholtz coil; after the three-axis Helmholtz coil 1 cancels the environmental static magnetic field, the three-axis Helmholtz coil is respectively positioned at XB、YB、ZBA vector magnetic field is generated on the axis, and the measured value of the three-axis magnetic sensor 3 is XB3、YB3、ZB3(ii) a The three axes of the heating calibration rotary table 2 are respectively rotated along the direction of the vector magnetic field, the orthogonal adjusting function of the three-axis Helmholtz coil 1 is adjusted by observing the measuring values of the two axes in the vertical direction at the three-axis magnetic sensor 3, so that the three-axis Helmholtz coil 1 is enabled to rotate in the X directionB、YB、ZBThe magnetic field in the axial direction being parallel to the measured value XB3、YB3、ZB3And are perpendicular to each other;
s3, calibrating the directional sensor by utilizing a triaxial Helmholtz coil
Referring to fig. 5, fig. 5 is a schematic structural view of the orientation sensor mounted on the warming calibration turntable; installing a directional sensor 5 to be calibrated on a heating calibration rotary table 2; after the three-axis Helmholtz coil 1 offsets the environmental static magnetic field, the Z of the three-axis Helmholtz coil 1 is adjustedBAn axis for generating an additional magnetic field whose vector is the magnitude of the earth's magnetic field, anParallel to the direction of the gravitational field;
referring to fig. 6, fig. 6 is a schematic structural diagram of the warming calibration turntable, three axes of the warming calibration turntable can rotate to adjust an angle, and the orientation sensor is calibrated by rotating the three axes of the warming calibration turntable 2 in different temperature states by adjusting the temperature in the warming calibration turntable 2.
Referring to fig. 7, fig. 7 is a schematic structural diagram of the orientation sensor, taking the magnetic sensor calibration as an example, and selecting a calibration model as follows:
Figure BDA0002231550760000071
wherein M isx、My、MzIs the three-axis vector, V, of the magnetic sensorx、Vy、VzIs the raw voltage data, m, collected by the magnetic sensorxx、myy、mzzScale factors, m, of the three axes of the magnetic sensor, respectivelyxy、mxz、myx、myz、mzx、mzyIs a quadrature deviation, Vox、Voy、VozIs the null offset of the three axes of the magnetic sensor.
The calibration procedure is a process of solving for calibration factors, zero offset and quadrature offset of the sensor, which can be a solution set of a function of relative temperature change by calibration at different temperature points.
The data processing method adopts a Total Field Calibration (Total Field Calibration) method for data processing, and the Total Field Calibration (Total Field Calibration) method proposed by the paper "Improvement of acquisition by Use of Iterative Total Field Calibration technology and Compensation for System Environment" published by SPE conference in 1989 by R Esters and P Walters is the most advanced Calibration method of the present orientation sensor.
The rotation of the three shafts of the turntable 2 is calibrated by heating to obtain a plurality of Mx、My、MzThe sensor(s) of (2) collects data; method for 'total field calibration' during sensor measurementThe device obtains the total field value which is the vector sum of three axes of the magnetic sensor. If the total field value TMF is:
Figure BDA0002231550760000072
in the invention, the total field value TMF reaches the calibration requirement by adjusting the magnetic field generation intensity of the three-axis Helmholtz coil 1; adjusting Z of a three-axis Helmholtz coil 1BAxis 50 μ T, making TMF 50 μ T, simulating local Earth magnetic field strength;
in the formula (4), 12 calibration values of the fluxgate sensor at the same temperature are solved to be constants;
by utilizing the total field intensity constraint and iterative calculation of the sensor in multiple directions, the directional sensor 5 can be calibrated under the condition that an accurate scale frame is not needed;
measured values A of three acceleration sensorsx、Ay、AzThe same method was used to obtain 12 calibration values.
According to the invention, the direction of the magnetic field of the triaxial Helmholtz coil 1 is adjusted, so that the magnetic field and the gravity field are in the same direction, and when the heating calibration turntable 2 is rotated, the magnetic sensor and the acceleration sensor of the orientation sensor 5 can be calibrated at the same position.
The correction calculations of the three magnetic sensors and the three acceleration sensors are completed in equation (4) using the above calibration values.
The calibration method of the directional sensor of the invention is used for checking the calibrated directional sensor, and the specific process comprises the following steps:
using the corrected sensor output values, parameters such as the tool surface θ, the inclination angle α, and the azimuth ω measured by the orientation sensor 5 in a certain attitude are checked, for example, by the following equations (6), (7), and (8):
Figure BDA0002231550760000081
Figure BDA0002231550760000082
Figure BDA0002231550760000083
to facilitate modeling of wellbore trajectories at different latitudes, verification is performed by adjusting DIP angle DIP, e.g., adjusting three-axis Helmholtz coil (1) ZBAnd XBA shaft, represented by formula (9):
Figure BDA0002231550760000084
the method for verifying the measurement accuracy of the directional sensor 5 after calibration includes, for example:
adjusting Z of a three-axis Helmholtz coil 1BAxis 40 μ T, XBThe axis is 30 mu T, and the magnetic inclination angle is 36.9 degrees; under different temperature states, the inclination angles of the heating calibration turntable 2 are respectively fixed at 4 degrees, 45 degrees and 90 degrees; rotating the tool surface of the heating calibration turntable 2, and recording the parameters such as the inclination angle, the azimuth angle, the tool surface angle and the like measured by the orientation sensor 5 at intervals of 45 degrees from 0 degree; the measurement precision of the orientation sensor is judged by calculating the difference value between the maximum value and the minimum value of the measurement value of the orientation sensor 5 rotating for one circle; the measurement precision is as follows: the inclination angle is less than or equal to +/-0.1 degrees, and the azimuth angle is less than or equal to +/-0.6 degrees.
The heating calibration turntable 2 is a Model 1503-TS-SPL calibration turntable of IDEAL AEROSMITH company; the three-axis magnetic sensor 3 is made of mag-03 or mag-13 of Bartington
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.

Claims (5)

1. A calibration method of an orientation sensor is characterized by comprising the following steps:
1) calibrating and heating the horizontal posture of the calibration turntable (2) by using a level meter (4);
2) the method comprises the following steps that a triaxial magnetic sensor (3) is placed on a heating calibration rotary table (2), a triaxial Helmholtz coil (1) is placed on the periphery of the heating calibration rotary table (2), and calibration coefficients, zero offset and orthogonality of the triaxial Helmholtz coil (1) are calibrated by the triaxial magnetic sensor (3);
adjusting a three-axis Helmholtz coil (1) to generate a magnetic field, and offsetting an extra magnetic field after an environmental static magnetic field, wherein the magnetic induction intensity of the extra magnetic field is equal to the geomagnetic induction intensity, and the direction of the magnetic induction intensity is the same as the direction of a gravity field;
the specific process of calibrating the calibration coefficient and the zero offset of the triaxial Helmholtz coil (1) by using the triaxial magnetic sensor (3) in the step 2) comprises the following steps:
adjusting the three-axis Helmholtz coil (1), after offsetting the environment static magnetic field, the three-axis Helmholtz coil (1) is at XB、YB、ZBTwo vector magnetic fields with equal size and opposite directions are respectively generated on the shaft;
adjusting the calibration coefficient of the triaxial Helmholtz coil (1) until the set value of the triaxial Helmholtz coil (1) is equal to the measurement value of the triaxial magnetic sensor (3), and the measurement value of the triaxial magnetic sensor (3) is XB1、YB1、ZB1And XB2、YB2、ZB2；
Adjusting the zero offset of the triaxial Helmholtz coil (1) to make XBmin、YBmin、ZBminIs a minimum value, wherein XBmin=XB1+XB2，YBmin=YB1+YB2，ZBmin=ZB1+ZB2；
The specific process of calibrating the orthogonality of the triaxial Helmholtz coil (1) by using the triaxial magnetic sensor (3) in the step 2) is as follows:
adjusting the triaxial Helmholtz coil (1) after counteracting the ambient static magnetic field at XB、YB、ZBEach generating a magnetic field in the axial direction, three-axis magnetThe measured values corresponding to the property sensors (3) are X respectivelyB3、YB3、ZB3；
By observing the measured value of the three-axis magnetic sensor (3), three axes of the heating calibration turntable (2) are rotated along the direction of the vector magnetic field, and the orthogonality of the three-axis Helmholtz coil (1) is adjusted until the vector magnetic field X generated by the three-axis Helmholtz coil (1)BParallel to the measured value XB3Vector magnetic field YBParallel to the measured value YB3，ZBThe axis being parallel to the measured value ZB3；
3) Placing the orientation sensor (5) on the heating calibration turntable (2);
adjusting the temperature and the three-axis angle of the heating calibration turntable (2), and acquiring the acquisition data of the orientation sensor (5) under different postures;
calibrating the directional sensor (5) by adopting a data processing method of total field calibration;
and 3) calibrating the orientation sensor (5) by adopting a total field calibration method, and calibrating the magnetic sensor and the acceleration sensor at the same time.
2. The calibration method of the orientation sensor according to claim 1, wherein the calibration process of the orientation sensor (5) by the total field calibration method in step 3) comprises:
adjusting the triaxial Helmholtz coil (1) to enable the output magnetic field to meet the total field value calibration requirement, acquiring the acquisition data of the directional sensor (5) and merging the acquisition data into a corresponding calibration model;
operating a calibration model by using a calibration program, and solving a calibration factor, a zero offset and an orthogonal offset of the sensor;
and calibrating the orientation sensor (5) according to the data.
3. The calibration method of the orientation sensor according to claim 1, wherein the heated calibration turntable (2) is a Model 1503-TS-SPL calibration turntable from IDEAL AEROSMITH.
4. The calibration method of the orientation sensor according to claim 1, wherein the three-axis magnetic sensor (3) is mag-03 or mag-13 from Bartington.
5. The calibration method of the orientation sensor according to claim 1, wherein the three-axis magnetic sensor (3) is subjected to standard magnetic source tracing.
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US11994410B2 (en) 2019-10-08 2024-05-28 China National Petroleum Corporation Calibration and verification system and method for directional sensor
CN111501895A (en) * 2020-03-23 2020-08-07 潍柴动力股份有限公司 Calibration method, calibration device and calibration system for excavator sensor
CN111474595B (en) * 2020-05-06 2023-01-06 中国石油天然气集团有限公司 Method and equipment for judging influence of magnetic interference of drilling tool on measuring borehole azimuth angle
CN113514789B (en) * 2021-04-23 2022-06-07 北京大学 Magnetic sensor array calibration method
CN113389539A (en) * 2021-06-08 2021-09-14 成都多贝石油工程技术有限公司 Full-automatic non-magnetic calibration system
CN114397615A (en) * 2021-12-09 2022-04-26 贵州电网有限责任公司 Magnetic field sensor calibration system

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