CN112963093B - Attitude dynamic measurement and calculation method of rotary steering drilling tool - Google Patents
Attitude dynamic measurement and calculation method of rotary steering drilling tool Download PDFInfo
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Abstract
The invention provides a dynamic attitude measuring and calculating method for a rotary steering drilling tool, which comprises the following steps: two sets of magnetic components at different positions in the rotary steering drilling tool are respectively measured by using two triaxial magnetometers; establishing a first relationship between each set of magnetic components and attitude parameters of the rotary steerable drilling tool, wherein the first relationship includes a plurality of intermediate parameters; establishing a second relational expression between a plurality of intermediate parameters and two groups of magnetic components according to different positions of the photoelectric positioning points determined by the photoelectric positioning sensor; and calculating and solving to obtain a plurality of intermediate parameters, and further calculating to obtain attitude parameters of the rotary steering drilling tool. The invention adopts a magnetometer with insensitive vibration to carry out dynamic measurement; aiming at the magnetic field abnormal interference sensitive to geomagnetic measurement, information obtained by photoelectric positioning is fused, magnetic field abnormal components are obtained through mathematical calculation, unique analytic solutions of three attitude parameters are strictly obtained, and the phenomenon that numerical iterative calculation generates large calculation amount and multiple solutions is avoided.
Description
Technical Field
The invention relates to the field of drilling attitude measurement, in particular to an attitude dynamic measurement and calculation method of a rotary steering drilling tool.
Background
In the process of exploration and development of petroleum and natural gas, on one hand, the hard-to-recover or hard-to-use reserves are required to be exploited, residual petroleum resources and special economic marginal oil reservoirs are exploited, and scarce resources such as shale gas, coal bed gas and the like are required; on the other hand, petroleum resources are more and more concentrated in deep stratum and deep sea area, and the guided drilling is the highest level of development of oil and gas drilling technology.
The method has the advantages that the target can be accurately and safely drilled, correct decision based on underground real-time measurement data cannot be made, the prior art is based on a traditional static measurement mode in the drilling process, the problems of strong vibration/impact and rotation interference caused by self characteristics cannot be avoided, and a large amount of applications show that the characteristics are complex, the elimination is difficult, the problem of inaccurate measurement or even no measurement is serious, and the development of dynamic attitude measurement and calculation technology in the continuous drilling process is hindered.
Downhole attitude measurement sensors include well-established applications of accelerometers, gyroscopes, magnetometers and emerging MEMS (silicon micromachining technology), fiber optic sensors, and the like. The accelerometer which is generally adopted at present is a better static measurement technology, but is very sensitive to vibration/impact, rotating centrifugal force and temperature, and is not suitable for dynamic measurement during continuous drilling. The gyroscope has high short-time measurement accuracy, accumulated errors exist during long-time work, and the gyroscope is greatly influenced by temperature. The magnetometer is not affected by vibration/impact of the drilling tool, rotational centrifugal force, and temperature, but is affected by geomagnetic anomalies.
The traditional attitude calculation algorithm includes an Euler angle method, a direction cosine method and a quaternion method. During dynamic calculation, the Euler angle differential equation can generate singular points, and various improved Euler angle methods can improve the precision but cannot avoid the singular points. The direction cosine method has no singular point, but the dynamic real-time performance of multiple parameters is insufficient. When the vertically launched ground-air missile is in large maneuvering flight, the attitude updating by the quaternion method has singularity. The newly developed rotary vector method can solve the problem that when the sampling frequency of a sensor is limited, carrier angular vibration and linear vibration cause large cone errors, high-precision multi-subsample requirements greatly increase the calculated amount of the rotary multi-subsample vector method, and various improved rotary vector methods can compensate the cone errors and keep equivalent calculated amount.
The rotor gyroscope adopts the schemes of advanced temperature calibration, real-time zero offset correction, gravity drive error source monitoring and correction and the like, so that the measurement precision is obviously improved; the latest full-attitude GWD (3 uniaxial accelerometer +2 biaxial gyroscope) is applied in the oil field, but an accelerometer is also adopted, and the dynamic measurement defect still exists.
Vibration is a main error source for dynamic measurement of underground attitude, an underground drilling tool is constantly in a random nonlinear motion state, dynamic behaviors are complex under the combined action of longitudinal vibration, transverse vibration, vortex vibration, stick-slip vibration and the like, and dynamic errors of an accelerometer are large. Through the playback of a large amount of stored data, the time sequence of the transverse vibration and the longitudinal vibration of the rotary drill string at the bottom is extracted, and the fact that the vibration of the drilling tool has a positive finite time Lyapunov index and a low-dimensional chaos phenomenon is found. The dynamic measurement is seriously influenced by vibration interference, particularly, the chaotic wide (wide) spectrum characteristic is also provided, and various filtering algorithms with the truncation frequency characteristic cannot be adapted at present.
Disclosure of Invention
Embodiments of the present invention provide a method for dynamically measuring and calculating the attitude of a rotary steerable drilling tool that overcomes, or at least partially solves, the above-mentioned problems, comprising:
two sets of magnetic components at different positions in the rotary steering drilling tool are respectively measured by using two triaxial magnetometers; establishing a first relation between each set of magnetic components and attitude parameters of the rotary steerable drilling tool, wherein the first relation comprises a plurality of intermediate parameters; establishing a second relational expression between a plurality of intermediate parameters and two groups of magnetic components according to different positions of the photoelectric positioning points determined by the photoelectric positioning sensor; and calculating and solving to obtain a plurality of intermediate parameters, and further calculating to obtain attitude parameters of the rotary steering drilling tool.
The attitude dynamic measurement and calculation method of the rotary steering drilling tool provided by the embodiment of the invention adopts a magnetometer insensitive to vibration to carry out dynamic measurement; aiming at the magnetic field abnormal interference sensitive to geomagnetic measurement, information obtained by photoelectric positioning is fused, magnetic field abnormal components are obtained through mathematical calculation, unique analytic solutions of three attitude parameters are strictly obtained, and the phenomenon that numerical iterative calculation generates large calculation amount and multiple solutions is avoided.
Drawings
FIG. 1 is a flow chart of a method for dynamically measuring and calculating the attitude of a rotary steerable drilling tool according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the positioning point of the eccentric gravity-driven suspension mechanism;
FIG. 3 is a schematic diagram of a positioning point of a fixed connection part rotating with a measurement and control platform;
fig. 4 is a schematic diagram of the instrument coordinate system of two three-axis magnetometers.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Fig. 1 is a flowchart of a method for dynamically measuring and calculating an attitude of a rotary steerable drilling tool according to an embodiment of the present invention, where as shown in fig. 1, the method includes: two sets of magnetic components at different positions in the rotary steering drilling tool are respectively measured by using two triaxial magnetometers; establishing a first relationship between each set of magnetic components and attitude parameters of the rotary steerable drilling tool, wherein the first relationship includes a plurality of intermediate parameters; establishing a second relational expression between a plurality of intermediate parameters and two groups of magnetic components at different positions according to different positions of the photoelectric positioning point determined by the photoelectric positioning sensor; according to the second relational expression, solving to obtain a plurality of intermediate parameters; and calculating to obtain an analytical solution of the attitude parameters of the rotary steering drilling tool according to the plurality of intermediate parameters and the two groups of magnetic components.
It can be understood that, in order to overcome the problem that the conventional accelerometer is very sensitive to vibration/impact, rotational centrifugal force and temperature and is not suitable for dynamic measurement during continuous drilling, the embodiment of the invention provides a method for dynamically measuring the posture of a rotary steering drilling tool, which mainly combines a three-axis magnetometer and a photoelectric positioning sensor to measure the posture of the rotary steering drilling tool.
Firstly, two independent three-axis magnetometers and photoelectric positioning sensors are installed on a rotary steering drilling tool measurement and control platform. The method comprises the steps of measuring two groups of magnetic components at different positions in the rotary steering drilling tool by using two triaxial magnetometers, and establishing a relational expression between each group of magnetic components and attitude parameters and each intermediate parameter of the rotary steering drilling tool according to photoelectric positioning points determined by a photoelectric positioning sensor. And solving the established relations to obtain attitude parameters of the rotary steering drilling tool.
Aiming at the problems that the existing dynamic measurement rotary steering drilling tool still uses a static measurement thought and technology, strong vibration/impact and rotation interference are brought, and measurement is inaccurate or even impossible, the embodiment of the invention starts from obtaining attitude measurement signals without vibration/impact and rotation interference, and adopts a magnetometer without sensitive vibration to carry out measurement; aiming at the magnetic field abnormal interference sensitive to geomagnetic measurement, information obtained by photoelectric positioning is fused, magnetic field abnormal components are obtained through mathematical calculation, unique analytic solutions of three attitude parameters are strictly obtained, and the phenomenon that numerical iterative calculation generates large calculation amount and multiple solutions is avoided.
In one possible embodiment, two three-axis magnetometers are coaxially arranged above and below the axis of the rotary steerable drilling tool and have a preset installation distance along the axis direction, and the two three-axis magnetometers adopt the same instrument coordinate system. The photoelectric positioning sensor is arranged on the axis of the rotary steering drilling tool and comprises a fixed connection part with the measurement and control platform and a suspension mechanism driven by eccentric gravity.
It can be understood that the embodiment of the present invention employs two independent three-axis magnetometers and an independent photoelectric positioning sensor, the two three-axis magnetometers employ the same instrument coordinate system and are coaxially installed at positions 1 m away from each other above and below the axis of the rotary steerable drilling tool, of course, the installation distance of the two three-axis magnetometers can be adjusted according to actual conditions, and the three-axis magnetometers are magnetic field strength measuring sensors such as fluxgates, MEMS, or magnetoresistances.
In a possible embodiment, referring to fig. 2 and fig. 3, fig. 2 is a schematic diagram of a positioning point of an eccentric gravity-driven suspension mechanism, fig. 3 is a schematic diagram of a positioning point of a fixed connection portion rotating with a measurement and control platform, a photoelectric positioning sensor includes a photoelectric reflection unit 1 and four photoelectric transceiver units 2, one photoelectric transceiver unit is respectively placed at corresponding positions of fixed connection portion marks T =0 °,90 °, 180 ° and 270 ° rotating with the measurement and control platform, and one photoelectric reflection unit is placed at a high side position of the eccentric gravity-driven suspension mechanism mark T =0 °. According to the requirement, two or four photoelectric reflection units 1 can be arranged on the suspension mechanism, and M is obtained by different trigger combinations 1 、N 1 And M 2 、N 2 And (4) information.
In one possible embodiment, an initial instrument coordinate system is established by three axes coincident with the geographic coordinate system, and the initial instrument coordinate system performs three euler rotations in turn at an azimuth angle a, a well inclination angle I and a tool face angle T, thereby obtaining the spatial attitude of the rotary steerable drilling tool.
In the initial instrument coordinate systemIn (1), two sets of magnetic components measured by two three-axis magnetometers can be respectively defined as B x1 、B y1 、B z1 And B x2 、B y2 、B z2 A schematic diagram of the instrument coordinate systems of the two three-axis magnetometers can be seen in fig. 4, which is the same instrument coordinate system.
Accordingly, establishing a first relationship between each set of magnetic components and attitude parameters of the rotary steerable drilling tool comprises:
wherein, B 1 Total local magnetic field strength, B, measured for the first magnetometer 2 Total local magnetic field strength, B, measured for the second magnetometer GN1 For the first magnetometer, the corresponding local magnetic field horizontal component, B S1 Measuring for the first magnetometer the corresponding local magnetic field vertical component, B GN2 Measuring for the second magnetometer the corresponding local magnetic field horizontal component, B S2 Measuring for the second magnetometer the corresponding local magnetic field vertical component, alpha 1 Is the local geomagnetic inclination angle, alpha, at the first magnetometer position 2 Is the local geomagnetic inclination at the second magnetometer location, D is the local declination, M 1 、N 1 、M 2 And N 2 Is an intermediate parameter. Wherein the vertical component of the earth magnetic field is negative in the northern hemisphere and positive in the southern hemisphere, alpha i Is the magnetic inclination angle (northern hemisphere alpha) i E (0 degree, 90 degree) and south hemisphere alpha i E (-90 deg., 0 deg.), D is the local declination. Attitude parameters of a rotary steerable drilling tool include a toolface angle T, a well angle I, and a magnetic azimuth angle (a + D).
In one possible embodiment, after establishing the first relationship between each set of magnetic components and the attitude parameters of the rotary steerable drilling tool, normalizing equation (1) and equation (2) yields:
in a possible embodiment mode, the positions of the photoelectric positioning points determined by the photoelectric positioning sensors are different, and the plurality of intermediate parameters M 1 、N 1 、M 2 And N 2 Different from the second relationship between the two sets of magnetic components. Specifically, at the photoelectric positioning point of the tool face angle T =0 °, the normalized measurement values of the two three-axis magnetometers on the X and Y axes are (b) x10 ,b y10 ) And (b) x20 ,b y20 ) And the following relationships exist:
at the photoelectric positioning point of the tool face angle T =90 degrees, the normalized measurement values of the two three-axis magnetometers on the X axis and the Y axis are respectively (b) x11 ,b y11 ) And (b) x21 ,b y21 ) And the following relationships exist:
at the photoelectric positioning point of the tool face angle T =180 degrees, the normalized measurement values of the two three-axis magnetometers on the X axis and the Y axis are respectively (b) x12 ,b y12 ) And (b) x22 ,b y22 ) And the following relationship exists:
at the photoelectric positioning point of the tool face angle T =270 °, the normalized measurement values of the two three-axis magnetometers on the X and Y axes are (b) x13 ,b y13 ) And (b) x23 ,b y23 ) And the following relationships exist:
when the dynamic adjustment amplitude of the rotary steering well drilling tool is larger, at least one photoelectric positioning point is triggered, and at the moment, one triggered photoelectric positioning point is selected to measure. If there is no rotation process or triggering photoelectric positioning detection for a longer time, and
program-controlled active rotation to trigger photoelectric positioning detection to obtain the latest M 1 、N 1 And M 2 、N 2 。
Solving according to the (8-A), (8-B), (8-C) and (8-D) established above to obtain a plurality of intermediate parameters M 1 、N 1 、M 2 And N 2 Wherein, after calculation, four groups of intermediate parameters M 1 、N 1 、M 2 And N 2 Are equal, M 1 、N 1 And M 2 、N 2 Does not change with the change of the tool face angle T, and has the magnetic azimuth angle (A + D), the well inclination angle I and the magnetic inclination angle alpha of each point 1 、α 2 It is related.
In one possible embodiment, the attitude parameter of the rotary steerable drilling tool is calculated based on the plurality of intermediate parameters and the two sets of magnetic components by calculating a real-time toolface angle T of the rotary steerable drilling tool, regardless of the attitude of the rotary steerable drilling tool, using the following equation:
the rotary steering drilling tool determines the local magnetic inclination angle alpha according to the positions of measuring points (photoelectric positioning points) in the south and north hemispheres under any posture 1 、α 2 Interval of (1), synthesis
Determining sin (alpha) by the gradient of change of 1 -α 2 ) Symbols, and combining formula (10) to obtain sin (. Alpha.) 1 -α 2 ) The numerical value of (c).
cos(α 1 -α 2 )＝M 1 ·M 2 +N 1 ·N 2 +b Z1 ·b Z2 ； (10)
Wherein, on the measuring point of the northern hemisphere, α 1 ∈(0,90°)，α 2 E (0, 90 deg.) then sin (alpha) 1 -α 2 ) Symbol of and
the signs of (A) and (B) are opposite.
If the measurement point is on the northern hemisphere, the sign of sin (A + D) and N 1 Similarly, the sign and value of cos (a + D) are obtained from equation (11), and the value of sin (a + D) is calculated, and then the magnetic azimuth angle (a + D) is obtained.
cos(A+D)sin(α 1 -α 2 )＝M 1 ·b Z2 -M 2 ·b Z1 。 (11)
Specifically, the declination angle alpha is determined from the declination angle alpha interval of the northern hemisphere position and the formula (12) 1 、α 2 A magnetic field component B is obtained from the formula (13) GN1 、B S1 、B GN2 And B S2 。
Calculating the inclination angle I of the rotary steering drilling tool according to the formula (14):
to this end, various attitude parameters of the rotary steerable drilling tool, including the toolface angle T, the borehole angle I, and the magnetic azimuth angle (A + D), may be solved according to the equations provided above.
Aiming at the problems that the existing dynamic measurement rotary steering drilling tool still uses a static measurement thought and technology, strong vibration/impact and rotation interference are brought, and measurement is inaccurate or even unmeasurable, the embodiment of the invention starts from obtaining a posture measurement signal without vibration/impact and rotation interference, and adopts a magnetometer without sensitive vibration to carry out dynamic measurement; the method aims at the magnetic field abnormal interference sensitive to geomagnetic measurement, integrates information obtained by photoelectric positioning, obtains magnetic field abnormal components through mathematical calculation, strictly obtains unique analytic solutions of three attitude parameters, and avoids the generation of larger calculation amount and multiple solutions due to numerical iterative calculation. Compared with the prior art, the dynamic attitude measurement of the rotary steering drilling tool is carried out by combining the photoelectric positioning and the magnetometer, is insensitive to strong vibration, impact, rotation and other interference, can obtain abnormal magnetic field components, directly obtains the analytic solution of attitude parameters through a mathematical formula, and avoids the calculated amount and multiple solutions generated by numerical iteration.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include such modifications and variations.
Claims (8)
1. A method for dynamically measuring and calculating the attitude of a rotary steerable drilling tool, comprising:
two sets of magnetic components at different positions in the rotary steering drilling tool are respectively measured by using two triaxial magnetometers;
establishing a first relationship between each set of magnetic components and attitude parameters of the rotary steerable drilling tool, wherein the first relationship includes a plurality of intermediate parameters;
establishing a second relational expression between the plurality of intermediate parameters and two groups of magnetic components at different positions according to different positions of the photoelectric positioning points determined by the photoelectric positioning sensor;
solving to obtain a plurality of intermediate parameters according to the second relational expression;
and calculating to obtain an analytical solution of the attitude parameters of the rotary steering drilling tool according to the plurality of intermediate parameters and the two groups of magnetic components.
2. The method of claim 1, wherein the two three-axis magnetometers are coaxially mounted above and below the axis of the rotary steerable drilling tool with a predetermined mounting distance along the axis, the two three-axis magnetometers employing the same instrument coordinate system;
the photoelectric positioning sensor is arranged on the axis of the rotary steering drilling tool and comprises a part fixedly connected with the measurement and control platform and a suspension mechanism driven by eccentric gravity.
3. The method according to claim 2, wherein the photoelectric positioning sensor comprises four photoelectric emitting units, four corresponding photoelectric receiving units and one photoelectric reflecting unit, one photoelectric emitting unit and one photoelectric receiving unit are respectively arranged at corresponding positions of fixed connecting part marks T =0 °,90 °, 180 ° and 270 ° rotating along with the measurement and control platform, one photoelectric reflecting unit is arranged at a position of a high side of an eccentric gravity-driven suspension mechanism mark T =0 °, and T is a tool face angle;
the photoelectric emission unit emits infrared rays, the infrared rays are reflected by the photoelectric reflection unit, and the position of the photoelectric receiving unit receiving the infrared ray reflection is a photoelectric positioning point.
4. The method of claim 1, wherein measuring two sets of magnetic components at different locations within the rotary steerable drilling tool using two three-axis magnetometers comprises:
establishing an initial instrument coordinate system by three axes superposed on a geographic coordinate system, and sequentially performing Euler rotation for three times by an azimuth angle A, a well inclination angle I and a tool face angle T by the initial instrument coordinate system to further obtain the spatial attitude of the rotary steering drilling tool;
the first three-axis magnetometer measures a group of three-axis direction magnetic components B x1 、B y1 、B z1 The other set of three-axis direction magnetic components measured by the second three-axis magnetometer are respectively B x2 、B y2 、B z2 ；
Accordingly, the establishing a first relationship between each set of magnetic components and attitude parameters of the rotary steerable drilling tool comprises:
wherein, B 1 Total local magnetic field strength, B, measured for the first magnetometer 2 Total local magnetic field strength, B, measured for the second magnetometer GN1 For the first magnetometer, the corresponding local magnetic field horizontal component, B S1 Measuring for the first magnetometer the corresponding local magnetic field vertical component, B GN2 Measuring for the second magnetometer the corresponding local magnetic field horizontal component, B S2 Measuring for the second magnetometer the corresponding local magnetic field vertical component, alpha 1 Is the local geomagnetic inclination angle, alpha, at the first magnetometer position 2 Is the local geomagnetic inclination angle at the second magnetometer position, D is the local geomagnetic declination angle, M 1 、N 1 、M 2 And N 2 Is an intermediate parameter;
wherein the attitude parameters of the rotary steerable drilling tool include a tool face angle T, a well angle I, and a magnetic azimuth angle (A + D).
5. The method of claim 4, wherein establishing a first relationship between each set of magnetic components and attitude parameters of the rotary steerable drilling tool, wherein the first relationship further comprises, after including a plurality of intermediate parameters:
normalizing formula (1) and formula (2) to obtain:
b x1 、b y1 、b z1 ，b x2 、b y2 、b z2 normalized measurements for two three-axis magnetometers.
6. The method of claim 5, wherein said establishing a second relation between said plurality of intermediate parameters and said two sets of magnetic components according to different positions of the photoelectric positioning points determined by the photoelectric positioning sensor comprises:
at the photoelectric positioning point of the tool face angle T =0 °, the normalized measurement values of the two three-axis magnetometers on the X and Y axes are (b) x10 ,b y10 ) And (b) x20 ,b y20 ) And the following relationship exists:
at the photoelectric positioning point of the tool face angle T =90 degrees, the normalized measurement values of the two three-axis magnetometers on the X axis and the Y axis are respectively (b) x11 ,b y11 ) And (b) x21 ,b y21 ) And the following relationships exist:
at the photoelectric positioning point of the tool face angle T =180 degrees, the normalized measurement values of the two three-axis magnetometers on the X axis and the Y axis are respectively (b) x12 ,b y12 ) And (b) x22 ,b y22 ) And the following relationships exist:
at the photoelectric positioning point of the tool face angle T =270 degrees, the normalized measurement values of the two three-axis magnetometers on the X axis and the Y axis are respectively (b) x13 ,b y13 ) And (b) x23 ,b y23 ) And the following relationships exist:
correspondingly, obtaining the plurality of intermediate parameters by solving according to the second relation includes:
solving according to formulas (8-A), (8-B), (8-C) and (8-D) to obtain a plurality of intermediate parameters M 1 、N 1 、M 2 And N 2 。
7. The method of claim 6, wherein calculating an analytical solution for attitude parameters of a rotary steerable drilling tool based on the plurality of intermediate parameters and the two sets of magnetic components comprises:
calculating a real-time toolface angle T of the rotary steerable drilling tool by:
cos (. Alpha.) is calculated by the following formula 1 -α 2 )：
cos(α 1 -α 2 )＝M 1 ·M 2 +N 1 ·N 2 +b Z1 ·b Z2 ； (10)
Determining the local magnetic inclination angle alpha according to the positions of the south hemisphere and the north hemisphere where the measuring points are located 1 、α 2 Interval of (1), synthesis
Determining sin (alpha) by the gradient of change of 1 -α 2 ) According to cos (α) 1 -α 2 ) Calculating to obtain sin (alpha) 1 -α 2 )；
Cos (a + D) is calculated by the following formula:
cos(A+D)sin(α 1 -α 2 )＝M 1 ·b Z2 -M 2 ·b Z1 ； (11)
according to the position of the measuring point in the south-north hemisphere and the intermediate parameter N 1 Or N 2 Determining the sign of sin (A + D), and calculating to obtain sin (A + D) according to cos (A + D);
calculating according to the formula (12) to obtain the local magnetic inclination angle alpha 1 And alpha 2 ；
According to local magnetic inclination angle alpha 1 And alpha 2 The geomagnetic field component B is calculated by the formulas (13-A) and (13-B) GN1 、B S1 、B GN2 And B S2 ；
Calculating the inclination angle I of the rotary steering drilling tool according to the formula (14):
8. the method of claim 1, 2 or 4, wherein the three-axis magnetometer is a fluxgate or MEMS or magneto-resistance.
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