CN113417631B - Rotary guiding tool ground instruction downloading system and method - Google Patents
Rotary guiding tool ground instruction downloading system and method Download PDFInfo
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- CN113417631B CN113417631B CN202110920558.1A CN202110920558A CN113417631B CN 113417631 B CN113417631 B CN 113417631B CN 202110920558 A CN202110920558 A CN 202110920558A CN 113417631 B CN113417631 B CN 113417631B
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/12—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a rotary guide type ground instruction downloading system, which comprises a coding module, a control module, a detection module and a signal processing module; the coding module is used for coding the ground control instruction into a binary code, modulating the binary code into a code element sequence through a signal, and determining the set rotating speed of the drilling tool according to the code element sequence; the control module is used for controlling the drilling tool to operate according to the set rotating speed through the top drive device; the detection module is used for acquiring axial instantaneous magnetic field signals at a high speed through the fluxgate to obtain periodic signals; the signal processing module is used for sequentially filtering and decoding the collected periodic signals to restore ground control instructions; the method and the device can realize high-speed downloading of the ground instructions to the downhole tool under the condition of improving the site construction efficiency and not increasing equipment and cost.
Description
Technical Field
The disclosure belongs to the technical field of petroleum drilling, and particularly relates to a rotary guiding type ground instruction downloading system and method.
Background
In the petroleum drilling process, the high-speed development of the two-way communication technology between the ground control system and the downhole tool is a necessary link for accelerating the automation process of drilling engineering, and has important effect on realizing intelligent drilling under the complex working condition. The downlink communication technology is used for sending a ground control command to the downhole tool, and is a key part for realizing automatic operation of the downhole tool, and the control command information generally comprises an azimuth angle, a well inclination angle, a tool face angle and the like.
Since petroleum exploration and exploitation, four information communication methods are mainly used: insulated conductors, electromagnetic waves, sound waves and mud pulses, the current transmission mode of mud pulses is most widely used in terms of transmission depth, transmission rate, reliability and development cost. The current method for downloading ground instructions mainly comprises the following three steps: (1) The downloading instruction is specifically encoded, and then the encoded signal is converted into a vibration signal which can be perceived by an underground vibration sensor through regularly lifting and lowering a drill rod, so that the downloading of the ground instruction is realized; (2) Stopping drilling operation of the rotary steering drilling tool, forming mud pulse signals of 1 and 0 through the off and on of a mud pump, and downloading by signal coding according to the time of switching the pump; (3) The riser is adopted to split the circulating slurry at a certain flow rate so as to generate a slurry pulse signal, the slurry pulse signal is encoded at a specific time interval, and finally the flow pressure change is detected through the underground turbine generator and is decoded through the underground signal processing unit, so that the downloading of the instruction is realized.
Both the first instruction downloading method and the second instruction downloading method can download instructions only by stopping drilling of the rotary steering drilling tool, so that the drilling operation time is prolonged, the efficiency is reduced, and the drilling operation cost is increased. Meanwhile, the vibration of the drilling tool and the operation of the switch pump can increase the probability of downhole accidents such as stuck drilling or well collapse during drilling to a certain extent. Thus, the first two methods of instruction downloading have been essentially completely abandoned. In the actual drilling process, a third instruction downloading method is adopted, a riser mud diversion device is required to be added at a well site, and a high-pressure hose is adopted to be connected with a riser and a mud pit, so that the mud diversion effect is achieved. Thus, the main disadvantages of the third instruction download method are: equipment and expense are increased, and the workload of field engineers is increased; and subsequent maintenance of the equipment also adds cost and effort.
Disclosure of Invention
In order to solve the above problems, the present disclosure provides a rotary guiding type ground instruction downloading system and method, which can realize high-speed downloading of a ground instruction to a downhole tool under the condition of improving field construction efficiency and not increasing equipment and cost.
In order to achieve the above objective, in a first aspect, the present disclosure provides a rotary guiding ground command downloading system, which adopts the following technical scheme:
a rotary guide type ground instruction downloading system comprises a coding module, a control module, a detection module and a signal processing module;
the coding module is used for coding the ground control instruction into a binary code, modulating the binary code into a code element sequence through a signal, and determining the set rotating speed of the drilling tool according to the code element sequence;
the control module is used for controlling the drilling tool to operate according to the set rotating speed through the top drive device so that a sensor in the underground detection module can accurately obtain a detection signal;
the detection module is used for acquiring axial instantaneous magnetic field signals at a high speed through the fluxgate to obtain periodic signals;
the signal processing module is used for sequentially filtering and decoding the collected periodic signals to restore ground control instructions.
Further, the coding module comprises a coding unit and a modulation unit;
the coding unit is used for determining a binary code downloaded by a preset ground control instruction according to an instruction comparison table;
the modulation unit is used for determining the corresponding rule of the binary code sequence and the rotation speed of the drilling tool, and the code element sequence corresponds to the rotation speed of the drilling tool in the rotary guiding tool one by one.
Further, the rotation speed of the drilling tool comprises the rotation speed and the rotation direction, and the signal modulation is carried out according to different binary code bit sequences corresponding to different signal frequencies and different rotation speeds.
Further, when drilling a deep well, taking the torsion delay characteristic of the flexible drilling tool into consideration, and reserving delay time required by the bottom of the drilling tool for receiving the change of the rotating speed before changing the rotating speed.
The control module drives the drilling tool to rotate through the top driving device on the ground according to the set rotation speed, and simultaneously, due to the flexible characteristic of the drilling tool material, the top driving device drives the top of the drilling tool to rotate and then cannot synchronously transmit the rotation to the bottom of the drilling tool during deep well drilling; therefore, the torsion delay characteristic of the flexible drilling tool needs to be considered, and the delay time required by the bottom of the drilling tool to receive the change of the rotation speed is reserved before the rotation speed is changed.
Further, the detection module is positioned in the underground MWD instrument and comprises a fluxgate sensor and a storage unit; the fluxgate sensor acquires instantaneous magnetic field coordinates in three axial directions and detects the rotating speed of the drilling tool;
the magnetic flux gate sensor rotates along with the drilling tool and acquires coordinate data, and the storage unit virtually stores the data acquired by the magnetic flux gate sensor, and the data waveform of the data is in a periodic shape, so that a periodic signal can be obtained.
Further, the signal processing module comprises a signal preprocessing unit and a decoding unit;
the signal preprocessing unit is used for eliminating distorted signal fragments and noise processing so as to improve the accuracy of signal decoding;
the decoding unit is used for decoding the preprocessed signals into ground control instructions through a decoding algorithm.
Further, the distorted signal segment refers to the situation that the waveform of the signal is distorted in the process of frequency conversion of the periodic signal in consideration of the torsional delay characteristic of the drilling tool; the noise processing means that the noise signal is processed by a filtering algorithm, and the filtering algorithm is selected from low-pass filtering, sliding average filtering or Kalman filtering.
Further, the decoding process of the decoding unit is as follows:
carrying out spectrum analysis on the preprocessed signals, and identifying each frequency peak point in a spectrogram;
determining the corresponding rotating speed of the actual drilling tool according to the corresponding rule of the frequency and the rotating speed during signal modulation;
and decoding a binary code sequence through the coding comparison table, and identifying the ground control instruction.
Further, when the torsion delay characteristic of the flexible drilling tool is determined, the material, the size and the drilling depth of the drilling tool are comprehensively considered, and the coefficient relation between the top drive rotation rate and the delay time at the two ends of the drilling tool is determined according to the moment of inertia of the drilling tool; the relation between the rotation rate and the delay time is determined, and then a reference basis can be provided for the control module to change the rotation rate.
In order to achieve the above object, in a second aspect, the present disclosure further provides a rotary guided ground instruction downloading method, which adopts the rotary guided ground instruction downloading system as described in the first aspect, and mainly includes the following:
determining a code corresponding to the downloading instruction according to the instruction comparison table, and determining the rotating speed of the drill rod of the downloading rotary guiding tool according to the code;
FSK modulation is realized by adjusting the rotation speed of the drilling tool, and the drilling tool is controlled to rotate according to the rotation speed;
a fluxgate sensor in the downhole MWD detects the magnetic field coordinates to generate a periodic signal;
and processing the detected signals, preprocessing and decoding the signals, and determining the instruction information transmitted from the ground according to the coding rule.
Compared with the prior art, the beneficial effects of the present disclosure are:
1. the method can realize the downloading of the ground instruction to the rotary guiding tool without shutting down the slurry pump and adding field operation equipment and personnel, and is an instruction downloading method with high efficiency and low cost;
2. the fluxgate of the detection module can acquire magnetic field coordinates in three axial directions at high speed in real time so as to detect ground subsurface transmission instructions, so that the ground instructions can be transmitted at high speed;
3. the method realizes a specific coding format through the modulation mode corresponding to the signal waveform frequency and the rotating speed, and can prevent the command from being downloaded by mistake.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification, illustrate and explain the embodiments and together with the description serve to explain the embodiments.
Fig. 1 is a schematic structural view of embodiment 1 of the present disclosure;
FIG. 2 is a schematic diagram of an encoding module of embodiment 1 of the present disclosure;
FIG. 3 is a schematic diagram of the torsional delay characteristics of embodiment 1 of the present disclosure;
FIG. 4 is a graph of drill speed conversion for example 1 of the present disclosure;
FIG. 5 is a schematic diagram of a detection module according to embodiment 1 of the present disclosure;
FIG. 6 is a diagram of a bottom hole velocity detection method of embodiment 1 of the present disclosure;
FIG. 7 is a schematic diagram of a detection waveform of embodiment 1 of the present disclosure;
fig. 8 is a schematic diagram of a signal processing module according to embodiment 1 of the present disclosure;
FIG. 9 is a flow chart of embodiment 2 of the present disclosure;
the device comprises a coding module 1, a control module 2, a control module 3, a detection module 4, a signal processing module 41, a signal preprocessing unit 42, a signal decoding unit 5, a top driving device 6, a drilling tool 7, a sensor 8, a fluxgate 9, a Hall sensor 10, a magnetic block 11, a stabilizing platform 12 and a bottom drilling tool drill rod.
The specific embodiment is as follows:
the disclosure is further described below with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
In the embodiment of the disclosure, the magnetic field coordinates in the three-axis direction can be acquired at a high speed in real time by controlling the rotating speed of the rotary steering drilling tool through the fluxgate in the underground MWD, so that the downloading of ground instructions is realized; the underground signal processing module can decode the instruction according to the corresponding relation between the rotating speed and the signal frequency and the corresponding coding rule; the embodiment of the disclosure can realize high-speed downloading of the ground instructions to the downhole tool without adding field operation equipment and personnel, thereby realizing control of the rotary guiding tool.
Example 1:
as shown in fig. 1, the embodiment provides a rotary guiding ground instruction downloading system, which comprises a coding module 1, a control module 2, a detection module 3 and a signal processing module 4 which are sequentially connected; the coding module 1 is used for coding the ground control instruction into a binary code, modulating the binary code into a code element sequence through a signal, and determining the set rotating speed of the drilling tool according to the code element sequence; the control module 2 is used for controlling the drilling tool to operate according to the set rotating speed through the top drive device so that a sensor in the underground detection module can accurately obtain a detection signal; the detection module 3 is used for acquiring axial instantaneous magnetic field signals at a high speed through a fluxgate to obtain periodic signals; the signal processing module 4 is used for sequentially filtering and decoding the collected periodic signals to restore ground control instructions.
As shown in fig. 2, the coding module 1 codes the ground control instruction into binary codes, and the binary codes are modulated into code element sequences by signals and correspond to the rotation speeds of the drilling tools 6 in the rotary guiding tool one by one; the control instruction preset on the ground determines the downloaded binary code according to the instruction comparison table, and then determines the corresponding rule of the binary code sequence and the rotating speed of the drilling tool 6 through the modulation mode of signal frequency modulation; the rotation speed of the drilling tool 6 comprises the rotation speed and the rotation direction, and the frequency modulation mode corresponds to different signal frequencies according to different binary code bit sequences and sets different rotation speeds correspondingly. In the present embodiment, the commands of command a, command b, command c, etc. are set to correspond to binary code sequences 00, 01, 10, etc., while the binary code sequences correspond to the drill rotational speed ω 1 、ω 2 And omega 3 Preferably, the ω 1 、ω 2 And omega 3 Setting up to 200 rpm clockwise, 150 rpm clockwise and 100 rpm counterclockwise in this order.
As shown in fig. 3, the control module 2 drives the drilling tool 6 in the rotary guide to rotate according to a set rotation speed through the top drive device 5, so that the sensor 7 in the downhole detection module can accurately obtain a detection signal; the control module 2 passes through the ground according to the set rotation speedThe top driving device 5 drives the drilling tool 6 to rotate, and simultaneously, due to the flexible characteristic of the material of the drilling tool 6, when a deep well drills, the top driving device 5 drives the top of the drilling tool 6 to rotate and then cannot synchronously transmit the rotation to the bottom of the drilling tool 6; therefore, the torsion delay characteristic of the flexible drilling tool needs to be considered, and the delay time required by the bottom of the drilling tool 6 for receiving the change of the rotation speed is reserved before the rotation speed is changed; the torsion delay characteristic of the flexible drilling tool needs to comprehensively consider the material, the size and the drilling depth of the drilling tool, and meanwhile, the rotational inertia of the drilling tool is considered to determine the coefficient relation between the top drive rotation rate and the delay time at two ends; specifically, the top drive apparatus 5 rotates at a rotational speed from ω 0 Conversion to omega 1 Conversion time t 0 The required torsion delay time t is determined according to the material, the size, the drilling depth and other factors of the drilling tool 6 due to the flexible characteristic and the characteristics of the bottom of the drilling tool 6 transmitted from the top of the drilling tool 6 1 The bottom of the drilling tool 6 is thus rotated at a rotational speed from ω 0 Conversion to omega 1 Conversion time t 0 +t 1 。
As shown in FIG. 4, when the ground gives out control command, a binary code sequence is corresponding to the rotation speed omega of the top drilling tool 0 Due to the characteristics of the delay and moment of inertia of the drilling tool 6, the lower end of the detection module 3 detects that the rotation speed of the bottom drilling tool is v, omega 0 V has a conversion relationship, i.e. v=ω 0 F (t), ω 0 The number v/f (t) is then calculated to obtain the rotational speed of the top drilling tool, representing a binary code sequence, and the control command from the ground is identified.
As shown in fig. 5, the detection module 3 is located in the downhole MWD instrument, and acquires a magnetic field signal of a certain axial instant at a high speed through the fluxgate 8 to obtain a periodic signal; the detection module 3 comprises a fluxgate sensor and a storage unit, and the fluxgate sensor can acquire instantaneous magnetic field coordinates in three axial directions at high speed to detect the rotation speed of the drilling tool 6 during rotation guiding operation; in the detection process, the fluxgate 8 rotates with the drilling tool 6 and collects coordinate data at the same time, and the storage unit continuously stores the collected data, and the data waveform is in a periodic shape, so that a periodic signal can be obtained; according to the geomagnetic field and fluxgate detection principle, detecting magnetic field coordinates only needs to detect magnetic field coordinates in the X-axis or Y-axis direction, and in actual detection, only needs to take axial magnetic field coordinate data with a large magnetic field coordinate value of one axis; if the X-axis magnetic field coordinate is detected to be 10 mu T at a certain point and the Y-axis magnetic field coordinate is detected to be 0.4 mu T at a certain moment, the X-axis magnetic field coordinate data is selected as the subsequent processing data in the case.
As shown in fig. 6, for the bottom hole rotational speed v, it can be detected with a combination of the hall sensor 9 and the magnet 10; the Hall sensor 9 is arranged on the stabilizing platform 11, one or a plurality of magnetic blocks 10 are uniformly distributed on the inner wall of the bottom drilling tool drill rod 12 along the circumference, and the magnetic blocks 10 and the Hall sensor 9 are positioned on the same circular section vertical to the axis of the drill rod; in the drilling process, the bottom drilling tool starts rotating operation, drives the magnetic blocks on the inner wall of the drill rod to rotate together, and the Hall sensor 9 on the stabilizing platform can detect the magnetic blocks 10; if at t 0 ～t 1 The angle through which the Hall sensor 9 rotates is theta, the stable platform 11 and the bearing 13 for the bottom drilling tool are axially and radially positioned, and the stable platform 11 in the bottom drilling tool freely rotates under the support of the bearing 13; when the stabilizing platform 11 does not follow the rotation of the bottom hole assembly, the hall sensor 9 remains stationary, the velocity v=θ/(t) 1 -t 0 ) The method comprises the steps of carrying out a first treatment on the surface of the When the stabilizing platform 11 follows the rotation of the bottom hole assembly, i.e. the hall sensor 9 has a certain speed ω s Velocity v=θ/(t) 1 -t 0 )-ω s 。
The signal processing module 4 sequentially carries out filtering processing and decoding processing on the acquired signals by the signal preprocessing unit 41 and the signal decoding unit 42 so as to restore ground instructions; the signal preprocessing unit 41 includes two parts of removing distorted signal segments and noise processing to improve the accuracy of signal decoding; the signal decoding unit 42 decodes the preprocessed signals into ground instructions via a decoding algorithm.
As shown in fig. 7, the distorted signal segments refer to the torsional delay characteristic of the drilling tool, and waveform distortion occurs in the process of frequency conversion of the periodic signal in the signal waveform, so that the signal segments need to be removed; the noise processing refers to processing the noise signal by a filtering algorithm, and common filtering algorithms include low-pass filtering, sliding average filtering and the like.
As shown in fig. 8, the decoding method is to identify each frequency of the preprocessed signal to determine the rotation speed of the drilling tool 6, and then decode the binary code sequence through the code comparison table, thereby identifying the ground command.
Example 2:
as shown in fig. 9, this embodiment provides a rotary guided ground command downloading method, which adopts the rotary guided ground command downloading system as described in embodiment 1, and mainly includes the following steps:
determining a code corresponding to the downloading instruction according to the instruction comparison table, and determining the rotating speed of the drill rod of the downloading rotary guiding tool according to the code;
FSK modulation is realized by adjusting the rotation speed of the drilling tool, and the drilling tool is controlled to rotate according to the rotation speed;
a fluxgate sensor in the downhole MWD detects the magnetic field coordinates to generate a periodic signal;
and processing the detected signals, preprocessing and decoding the signals, and determining the instruction information transmitted from the ground according to the coding rule.
The above description is only a preferred embodiment of the present embodiment, and is not intended to limit the present embodiment, and various modifications and variations can be made to the present embodiment by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment should be included in the protection scope of the present embodiment.
Claims (8)
1. The rotary guide type ground instruction downloading system is characterized by comprising a coding module, a control module, a detection module and a signal processing module;
the coding module is used for coding the ground control instruction into a binary code, modulating the binary code into a code element sequence through a signal, and determining the set rotating speed of the drilling tool according to the code element sequence; the coding module codes the ground control instruction into binary codes, and the binary codes are modulated into code element sequences through signals and correspond to the rotating speeds of drilling tools in the rotary guiding tool one by one; the rotating speed of the drilling tool comprises the rotating speed and the rotating direction, and the drilling tool corresponds to different signal frequencies according to different binary code bit sequences and sets different rotating speeds correspondingly to perform signal modulation;
the control module is used for controlling the drilling tool to operate according to the set rotating speed through the top drive device; reserving delay time required by the bottom of the drilling tool to receive the change of the rotating speed before changing the rotating speed; the torsional delay characteristic of the drilling tool comprehensively considers the material, the size and the drilling depth of the drilling tool, and simultaneously considers the rotational inertia of the drilling tool to determine the coefficient relation between the top drive rotation rate and the delay time at two ends; specifically, the top drive device rotates the rotation speed from omega 0 Conversion to omega 1 Conversion time t 0 The required torsion delay time t is determined according to the material, the size and the drilling depth factors of the drilling tool due to the flexible characteristics and transmitted from the top of the drilling tool to the bottom of the drilling tool 1 The bottom rotation speed of the drilling tool is omega 0 Conversion to omega 1 Conversion time t 0 +t 1 ；
The detection module is used for acquiring axial instantaneous magnetic field signals at a high speed through the fluxgate to obtain periodic signals;
the signal processing module is used for sequentially filtering and decoding the collected periodic signals to restore ground control instructions; the signal processing module comprises a signal preprocessing unit and a decoding unit; the signal preprocessing unit is used for eliminating distorted signal fragments and noise processing; the distorted signal segment refers to the situation that the waveform of the signal is distorted in the process of frequency conversion of the periodic signal by considering the torsion delay characteristic of the drilling tool;
the rotation speed of the drilling tool is detected by the combination of a Hall sensor and a magnetic block; the Hall sensor is arranged on the stable platform and in the drill rod of the drilling toolThe wall is uniformly distributed with a plurality of magnetic blocks along the circumference, and the magnetic blocks and the Hall sensor are positioned on the same circular section perpendicular to the axis of the drill rod; in the drilling process, the bottom drilling tool starts rotating operation, drives the magnetic blocks on the inner wall of the drill rod to rotate together, and stabilizes the Hall sensor on the platform to detect the magnetic blocks; at t 0 ～t 1 In the Hall sensor, the rotating angle is theta, the stable platform and the bearing for the drilling tool are axially and radially positioned, and the stable platform freely rotates under the support of the bearing; when the stabilizing platform does not rotate with the bottom hole assembly, the Hall sensor remains stationary, and the velocity v=θ/(t) 1 -t 0 ) The method comprises the steps of carrying out a first treatment on the surface of the When the stabilizing platform rotates along with the bottom hole assembly, the Hall sensor has a speed omega s Velocity v=θ/(t) 1 -t 0 )-ω s 。
2. A rotary steerable ground command issuing system according to claim 1, characterized in that the delay time required for the tool bottom to receive a change in rotational speed is reserved before the rotational speed is changed, taking into account the torsional delay characteristics of the flexible tool during deep well drilling.
3. The rotary steerable surface command down-transmission system as recited in claim 1, wherein the detection module is located in a downhole MWD instrument and comprises a fluxgate sensor and a memory unit; the fluxgate sensor acquires instantaneous magnetic field coordinates in three axial directions and detects the rotating speed of the drilling tool;
the fluxgate sensor rotates along with the drilling tool and acquires coordinate data, and the storage unit virtually stores the data acquired by the fluxgate sensor.
4. A rotary steerable ground command downloading system as in claim 1 wherein the decoding unit is configured to decode the preprocessed signals into ground control commands via a decoding algorithm.
5. The rotary steerable ground command downloading system as recited in claim 4, wherein the noise processing means that the noise signal is processed by a filtering algorithm, and the filtering algorithm is selected from the group consisting of low-pass filtering, sliding average filtering and kalman filtering.
6. The rotary steerable ground instruction downloading system as in claim 4, wherein the decoding unit decodes:
carrying out spectrum analysis on the preprocessed signals, and identifying each frequency peak point in a spectrogram;
determining the corresponding rotating speed of the actual drilling tool according to the corresponding rule of the frequency and the rotating speed during signal modulation;
and decoding a binary code sequence through the coding comparison table, and identifying the ground control instruction.
7. The rotary steerable ground command issuing system according to claim 6, wherein the torsional delay characteristic of the flexible drilling tool is determined by taking into account the material, size and depth of penetration of the drilling tool, and the coefficient relationship between the rotational rate of the top drive and the delay time at both ends of the drilling tool, as determined by the moment of inertia of the drilling tool.
8. A rotary steerable ground command downloading method, wherein the rotary steerable ground command downloading system as claimed in any one of claims 1 to 7 is used, and the main contents include:
determining a code corresponding to the downloading instruction according to the instruction comparison table, and determining the rotating speed of the drill rod of the downloading rotary guiding tool according to the code;
FSK modulation is realized by adjusting the rotation speed of the drilling tool, and the drilling tool is controlled to rotate according to the rotation speed;
a fluxgate sensor in the downhole MWD detects the magnetic field coordinates to generate a periodic signal;
and processing the detected signals, preprocessing and decoding the signals, and determining the instruction information transmitted from the ground according to the coding rule.
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