CN115468485A - Method for calculating tool face angle and storage medium - Google Patents
Method for calculating tool face angle and storage medium Download PDFInfo
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Abstract
The invention discloses a method for calculating a tool face angle and a storage medium. The computing method comprises the steps of measuring geomagnetic components of positions to be measured by using a magnetometer to obtain geomagnetic component measurement values; and obtaining the tool face angle of the position to be measured according to the geomagnetic component measurement value. The method has clear calculation logic, high accuracy of calculation results and simple realization process.
Description
Technical Field
The invention relates to the technical field of petroleum drilling, in particular to a method for calculating a tool face angle and a storage medium.
Background
In the process of controlling the drilling track of the directional well, the method is very important for acquiring underground data, wherein a tool face angle is a main parameter used by a worker in a construction site of the directional well for determining the direction of a deflecting tool, distributing a deflecting rate in the deflecting direction and the azimuth direction and controlling the drilling track. In the related art, the tool face angle is calculated by acquiring the horizontal component of the accelerometer, however, when the inclination angle of the tool face is smaller, the accelerometer components of the X axis and the Y axis of the accelerometer are smaller, and the calculated tool face angle has larger fluctuation and larger error of the calculation result due to the metering error of the accelerometer and the fluctuation in the measurement work.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
To this end, a first object of the invention is to propose a method for calculating the toolface angle. The method has clear calculation logic, high accuracy of calculation results and simple realization process.
A second object of the invention is to propose a computer-readable storage medium.
To achieve the above object, a method for calculating a tool face angle according to an embodiment of a first aspect of the present invention includes: measuring the geomagnetic component of the position to be measured by using the magnetometer to obtain a geomagnetic component measurement value; and obtaining the tool face angle of the position to be measured according to the geomagnetic component measurement value.
In addition, the method for calculating the tool face angle according to the embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, the magnetometer is a three-axis magnetometer, and the obtaining the tool face angle of the position to be measured according to the geomagnetic component measurement value includes: acquiring a target zero offset coefficient and a target proportionality coefficient of the magnetometer; calculating a real geomagnetic component value according to the target zero offset coefficient, the target proportion coefficient and the geomagnetic component measurement value; and calculating the tool face angle of the position to be measured according to the real value of the geomagnetic component.
According to an embodiment of the present invention, the obtaining the target zero bias coefficient and the target scale coefficient of the magnetometer includes: and acquiring a zero offset coefficient and a proportionality coefficient obtained by calibrating the magnetometer at normal temperature, taking the zero offset coefficient as the target zero offset coefficient, and taking the proportionality coefficient as the target proportionality coefficient.
According to an embodiment of the present invention, the obtaining the target zero bias coefficient and the target scale coefficient of the magnetometer includes: acquiring a corresponding relation between a zero offset coefficient and the ambient temperature and a corresponding relation between a proportional coefficient and the ambient temperature, and recording the corresponding relations as a first corresponding relation and a second corresponding relation respectively; acquiring the ambient temperature of the position to be detected; and obtaining the target zero offset coefficient according to the environment temperature and the first corresponding relation, and obtaining the target proportionality coefficient according to the environment temperature and the second corresponding relation.
According to an embodiment of the present invention, the first corresponding relationship and the second corresponding relationship are obtained as follows: calibrating the magnetometer at a plurality of temperatures to obtain a plurality of groups of zero offset coefficient fitting data and a plurality of groups of proportionality coefficient fitting data, wherein each group of zero offset coefficient fitting data comprises the temperature and a zero offset coefficient obtained by calibration at the temperature, and each group of proportionality coefficient fitting data comprises the temperature and a proportionality coefficient obtained by calibration at the temperature; and performing curve fitting on the multiple groups of zero offset coefficient fitting data to obtain the first corresponding relation, and performing curve fitting on the multiple groups of proportional coefficient fitting data to obtain the second corresponding relation.
According to one embodiment of the invention, the calibration mode of the magnetometer comprises: the magnetometer is placed on a non-magnetic three-axis turntable, the magnetometer is driven to rotate for n circles through the non-magnetic three-axis turntable, and geomagnetic component measurement data of the magnetometer before and after rotation are recorded, wherein n is a positive integer; determining the maximum value and the minimum value of the geomagnetic components in each axial direction from the geomagnetic component measurement data; and calculating to obtain a zero offset coefficient and a proportionality coefficient according to the maximum value and the minimum value.
According to one embodiment of the invention, the zero offset coefficient is calculated by:
wherein, max _ X, max _ Y and Max _ Z are respectively the maximum value of geomagnetic component measurement data in X, Y and Z axial directions, min _ X, min _ Y and Min _ Z are respectively geomagnetic components in X, Y and Z axial directionsMinimum value of measurement data, B X 、B Y 、B Z Respectively are zero offset coefficients in the X, Y and Z axial directions; calculating the scaling factor by:
wherein S is X 、S Y 、S Z Are the proportionality coefficients in the X, Y and Z axial directions respectively.
According to an embodiment of the present invention, the true value of the geomagnetic component is calculated by:
wherein, B Xt 、B Yt 、B Zt Respectively are target zero offset coefficients in X, Y and Z axial directions, S Xt 、S Yt 、S Zt Respectively the target proportionality coefficients in the X, Y and Z axial directions, H X 、H Y 、H Z Respectively are real values of geomagnetic components in X, Y and Z axial directions, M X 、M Y 、M Z The measured values of the geomagnetic components in the X, Y and Z axial directions are respectively.
According to one embodiment of the invention, the toolface angle is calculated by:
wherein α is the toolface angle.
To achieve the above object, a computer-readable storage medium is provided in an embodiment of the second aspect of the present invention, on which a computer program is stored, and the computer program, when executed by a processor, implements the method for calculating the toolface angle according to the embodiment of the first aspect of the present invention.
According to the tool face angle calculation method and the storage medium, the tool face angle is calculated through the geomagnetic component, so that the calculation result is high in accuracy, the calculation method is clear in logic and simple in implementation process, the method can resist vibration by combining the characteristics of the geomagnetic field, and the reliability of tool face angle calculation work is guaranteed.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart diagram of a method of calculating a toolface angle according to one embodiment of the present disclosure;
FIG. 2 is a flowchart illustrating step S102 of a method for calculating a toolface angle according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating step S201 according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a flow of acquiring the first corresponding relationship and the second corresponding relationship according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart of a method for calibrating a magnetometer according to one embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A method of calculating a toolface angle and a storage medium according to an embodiment of the present invention will be described with reference to fig. 1 to 5.
FIG. 1 is a flow chart illustrating a method for calculating a toolface angle according to an embodiment of the present invention.
As shown in FIG. 1, in some embodiments, the method of calculating the toolface angle may include:
s101, measuring the geomagnetic component of the position to be measured by using the magnetometer to obtain a geomagnetic component measurement value.
And S102, obtaining a tool face angle of the position to be measured according to the geomagnetic component measurement value.
In some embodiments, the magnetometer is selected as a three-axis magnetometer, and the three-axis magnetometer is used as a device for indicating a direction by measuring a geomagnetic field strength, in this embodiment, the magnetometer is used to measure a magnetic field component of the to-be-measured position, obtain a geomagnetic component measurement value, and then perform calculation work of a tool face angle on the corresponding position according to the obtained geomagnetic component measurement value of the to-be-measured position.
It can be understood that the geomagnetic field is a magnetic field existing around the earth, and due to the stability of the geomagnetic field, the influence of the small-amplitude vibration on the geomagnetic field is not great, and the correspondingly obtained geomagnetic component measurement value is also more accurate, but the small-amplitude vibration has great influence on the measurement work of the accelerometer, that is, the obtained accelerometer component error is larger. Therefore, according to the method for calculating the tool face angle, the tool face angle is calculated through the geomagnetic component, so that the calculation result is high in accuracy, the logic of the calculation method is clear, the implementation process is simple, the method can resist vibration by combining the characteristics of the geomagnetic field, and the reliability of the tool face angle calculation work is ensured. For the control process of the well drilling track in practical application, the working safety can be improved.
As a possible implementation manner, as shown in fig. 2, the obtaining of the toolface angle of the to-be-measured position according to the measured value of the geomagnetic component in step S102 may specifically include:
s201, obtaining a target zero offset coefficient and a target proportionality coefficient of the magnetometer.
And S202, calculating a real geomagnetic component value according to the target zero offset coefficient, the target proportion coefficient and the geomagnetic component measurement value.
And S203, calculating the tool face angle of the position to be measured according to the real value of the geomagnetic component.
It should be understood that the errors of the three-axis magnetometer mainly include a zero offset error, a scale coefficient error, a three-axis perpendicularity error and the like, where the zero offset error and the scale coefficient error are main factors affecting the measurement precision of the three-axis magnetometer, and therefore, according to the characteristics of the measurement errors of the three-axis magnetometer, in order to ensure the accuracy of the tool face angle calculation result, it is necessary to first obtain a target zero offset coefficient and a target proportionality coefficient of the corresponding magnetometer, and then calculate the real value of the geomagnetic component according to the target zero offset coefficient, the target proportionality coefficient and the measured value of the geomagnetic component obtained by measuring the position to be measured by the magnetometer, and subsequently calculate the tool face angle of the position to be measured according to the real value of the geomagnetic component.
As a possible implementation, obtaining the target zero bias coefficient and the target scale coefficient of the magnetometer may include: and obtaining a zero offset coefficient and a proportionality coefficient obtained by calibrating the magnetometer at normal temperature, taking the zero offset coefficient as a target zero offset coefficient, and taking the proportionality coefficient as a target proportionality coefficient.
That is, in the present embodiment, the magnetometer is calibrated at normal temperature to obtain the zero-bias coefficient and the scaling factor under normal temperature calibration, and the calculation of the real value of the geomagnetic component is performed by using the zero-bias coefficient and the scaling factor as the target zero-bias coefficient and the target scaling factor according to the present invention. It can be understood that, for such a high-precision measuring instrument or measuring instrument such as a magnetometer, during continuous use, due to operation, wear, damage and the like, the working performance and the measuring accuracy of the instrument or the measuring instrument may change, and therefore, in order to ensure the accuracy of the instrument or the measuring instrument, when the instrument or the measuring instrument is used for measuring, the instrument or the measuring instrument needs to be calibrated first, so as to avoid the problems of large measuring error and the like caused by the precision problem of the instrument or the measuring instrument. In the embodiment, the zero offset coefficient and the proportional coefficient after normal temperature calibration are used as the target zero offset coefficient and the target proportional coefficient, and the calculation work of the real value of the geomagnetic component is performed, so that the reliability of the calculation work is ensured, and the accuracy of the calculation result is improved.
As another possible implementation manner, as shown in fig. 3, the acquiring a target bias zero coefficient and a target scale coefficient of the magnetometer in step S201 may specifically include:
s301, acquiring a corresponding relation between the zero offset coefficient and the ambient temperature and a corresponding relation between the proportional coefficient and the ambient temperature, and recording the corresponding relations as a first corresponding relation and a second corresponding relation respectively.
S302, obtaining the environmental temperature of the position to be measured.
S303, obtaining a target zero offset coefficient according to the environment temperature and the first corresponding relation, and obtaining a target proportional coefficient according to the environment temperature and the second corresponding relation.
That is, in the present embodiment, the magnetometer may be set at a plurality of different temperatures (for example, a high temperature of 125 ℃) without being limited to the normal temperature calibration of the magnetometer, and the magnetometer may be developed and calibrated at different temperatures, and the correspondence between the zero offset coefficient and the ambient temperature and the correspondence between the scale coefficient and the ambient temperature may be further obtained.
As a possible implementation manner, as shown in fig. 4, the first corresponding relationship and the second corresponding relationship described in step S301 may be obtained as follows:
s401, calibrating the magnetometer at a plurality of temperatures to obtain a plurality of groups of zero offset coefficient fitting data and a plurality of groups of proportionality coefficient fitting data, wherein each group of zero offset coefficient fitting data comprises the temperature and a zero offset coefficient obtained by calibration at the temperature, and each group of proportionality coefficient fitting data comprises the temperature and a proportionality coefficient obtained by calibration at the temperature.
Specifically, a plurality of temperatures are set, and the magnetometer is developed and calibrated corresponding to each temperature respectively to obtain a zero offset coefficient and a proportionality coefficient obtained through calibration at the temperature, and when the magnetometer calibration is completed for the plurality of set temperatures, the plurality of groups of zero offset coefficient fitting data and the plurality of groups of proportionality coefficient fitting data are correspondingly obtained. For example, an initial temperature (e.g. 125 ℃) may be set, and the magnetometer is calibrated at every 5 ℃ by means of temperature reduction, that is, calibration work on the magnetometer at multiple temperatures is performed, it should be noted that the temperature selection method in this example is only an example, and may be selected according to specific situations in actual application, and no specific limitation is made in the embodiment of the present invention.
S402, performing curve fitting on the multiple groups of zero offset coefficient fitting data to obtain a first corresponding relation, and performing curve fitting on the multiple groups of proportional coefficient fitting data to obtain a second corresponding relation.
Exemplarily, n-order fitting is performed on a plurality of groups of zero offset coefficient fitting data and a plurality of groups of proportionality coefficient fitting data according to temperature through a software tool (for example, MATLAB) to obtain a temperature calibration coefficient, curve fitting operation of the plurality of groups of zero offset coefficient fitting data is performed according to the temperature calibration coefficient, and curve fitting operation of the plurality of groups of proportionality coefficient fitting data is performed according to the temperature calibration coefficient to obtain a first corresponding relation and a second corresponding relation, wherein the fitting order can be selected according to historical fitting experience or actual requirements, and no specific limitation is made in this example.
As a possible implementation manner, as shown in fig. 5, the calibration manner of the magnetometer may specifically include:
s501, the magnetometer is placed on the non-magnetic three-axis turntable, the magnetometer is driven to rotate for n circles through the non-magnetic three-axis turntable, and geomagnetic component measurement data of the magnetometer before and after rotation are recorded, wherein n is a positive integer.
S502, determining a maximum value and a minimum value of the geomagnetic components in each axial direction from the geomagnetic component measurement data.
Illustratively, the three-axis magnetometer needs to be installed before being calibrated, the installed three-axis magnetometer is placed on a non-magnetic three-axis turntable and rotates for one circle by taking a Y axis and a Z axis as axes, magnetometer acquisition equipment acquires magnetometers in all axes of the three-axis magnetometer and then rotates for multiple circles, the magnetometers in all axes of the three-axis magnetometer are acquired in real time to obtain multiple groups of geomagnetic component measurement data, and the maximum value and the minimum value of the geomagnetic components in all axes are determined from the multiple groups of geomagnetic component measurement data.
And S503, calculating according to the maximum value and the minimum value to obtain a zero offset coefficient and a proportionality coefficient.
As an example, the zero-bias coefficient is calculated by:
wherein, max _ X, max _ Y and Max _ Z are the maximum values of geomagnetic component measurement data in X, Y and Z axial directions respectively, min _ X, min _ Y and Min _ Z are the minimum values of geomagnetic component measurement data in X, Y and Z axial directions respectively, B X 、B Y 、B Z Respectively, zero offset coefficients in the X, Y and Z axial directions.
As an example, the scaling factor is calculated by:
It should be noted that, in some embodiments, after the normal temperature calibration of the magnetometer is completed, the magnetometer after the normal temperature calibration may be placed in a heat-preserving container and heated to a high temperature (for example, 125 °), then the magnetometer with the heat-preserving container is mounted on the non-magnetic three-axis turntable, the maximum value and the minimum value of the geomagnetic components in each axial direction of the three-axis magnetometer at the temperature are accessed at intervals of 5 ℃ in a cooling manner in steps S501 to S503, and the measurement compensation work of the three-axis magnetometer is completed by the above method for calculating the zero offset coefficient and the scaling coefficient, so as to ensure that the three-axis magnetometer is still applicable under the high temperature environment condition.
As an example, after determining the target zero bias coefficient and the target scale coefficient to the magnetometer, the real value of the geomagnetic component can be calculated by the following formula in combination with the measured value of the geomagnetic component:
wherein, B Xt 、B Yt 、B Zt Respectively are target zero offset coefficients in X, Y and Z axial directions, S Xt 、S Yt 、S Zt Respectively in the X, Y and Z axial directionsScale factor, H X 、H Y 、H Z Respectively are real values of geomagnetic components in X, Y and Z axial directions, M X 、M Y 、M Z The measured values of the geomagnetic components in the X, Y and Z axial directions are respectively.
It can be understood that, corresponding to different environmental temperatures, the obtained target zero offset coefficient and the target proportionality coefficient may be different, the acquired geomagnetic component measurement values may also be different, and after the magnetometer is calibrated, the real values of the geomagnetic components in the X, Y and Z axial directions, which are calculated at the same position at different temperatures, should be basically consistent. In some embodiments, when the first corresponding relationship and the second corresponding relationship are obtained, the calculated real values of the geomagnetic components may be optimized by appropriately increasing the order of the fitting work, so that the real values of the geomagnetic components in the X, Y, and Z axial directions calculated at the same position at different temperatures may be kept consistent.
As an example, the toolface angle may be calculated by:
where α is the tool face angle in radians.
According to the method for calculating the tool face angle, provided by the embodiment of the invention, calibration work is carried out on the magnetometer at multiple temperatures, the target zero offset coefficient and the target proportion coefficient of the magnetometer are obtained, and the real value of the geomagnetic component is calculated according to the target zero offset coefficient, the target proportion coefficient and the measured value of the geomagnetic component on the position to be measured, so that the obtained real value of the geomagnetic component has high accuracy and strong applicability. Meanwhile, when the tool face angle of the position to be measured is calculated according to the real value of the geomagnetic component, the calculation logic is clear, the accuracy of the calculation result is high, and the realization process is simple.
Further, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for calculating a toolface angle according to the foregoing embodiment.
It should be noted that the logic and/or steps shown in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the second feature or the first and second features may be indirectly contacting each other through intervening media. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A method of calculating a toolface angle, the method comprising:
measuring the geomagnetic component of the position to be measured by using a magnetometer to obtain a geomagnetic component measurement value;
and obtaining the tool face angle of the position to be measured according to the geomagnetic component measurement value.
2. The method of claim 1, wherein the magnetometer is a three-axis magnetometer, and wherein obtaining the toolface angle of the location under test from the geomagnetic component measurements comprises:
acquiring a target zero offset coefficient and a target proportionality coefficient of the magnetometer;
calculating a real geomagnetic component value according to the target zero offset coefficient, the target proportion coefficient and the geomagnetic component measurement value;
and calculating the tool face angle of the position to be measured according to the real value of the geomagnetic component.
3. The method of claim 2, wherein said obtaining a target zero bias coefficient and a target scale coefficient for said magnetometer comprises:
and acquiring a zero offset coefficient and a proportionality coefficient obtained by calibrating the magnetometer at normal temperature, taking the zero offset coefficient as the target zero offset coefficient, and taking the proportionality coefficient as the target proportionality coefficient.
4. The method of claim 2, wherein said obtaining a target zero bias coefficient and a target scaling factor for said magnetometer comprises:
acquiring a corresponding relation between a zero offset coefficient and the environment temperature and a corresponding relation between a proportional coefficient and the environment temperature, and respectively recording the corresponding relations as a first corresponding relation and a second corresponding relation;
acquiring the environmental temperature of the position to be measured;
and obtaining the target zero offset coefficient according to the environment temperature and the first corresponding relation, and obtaining the target proportionality coefficient according to the environment temperature and the second corresponding relation.
5. The method of claim 4, wherein the first corresponding relationship and the second corresponding relationship are obtained by:
calibrating the magnetometer at a plurality of temperatures to obtain a plurality of groups of zero offset coefficient fitting data and a plurality of groups of proportionality coefficient fitting data, wherein each group of zero offset coefficient fitting data comprises the temperature and a zero offset coefficient obtained by calibration at the temperature, and each group of proportionality coefficient fitting data comprises the temperature and a proportionality coefficient obtained by calibration at the temperature;
and performing curve fitting on the multiple groups of zero offset coefficient fitting data to obtain the first corresponding relation, and performing curve fitting on the multiple groups of proportional coefficient fitting data to obtain the second corresponding relation.
6. A method according to claim 3 or 5, characterized in that said magnetometer is calibrated in a way comprising:
the magnetometer is placed on a non-magnetic three-axis turntable, and is driven to rotate for n circles through the non-magnetic three-axis turntable, and geomagnetic component measurement data of the magnetometer before and after rotation are recorded, wherein n is a positive integer;
determining the maximum value and the minimum value of the geomagnetic components in each axial direction from the geomagnetic component measurement data;
and calculating to obtain a zero offset coefficient and a proportionality coefficient according to the maximum value and the minimum value.
7. The method of claim 6,
calculating the zero-bias coefficient by:
wherein, max _ X, max _ Y and Max _ Z are the maximum values of geomagnetic component measurement data in X, Y and Z axial directions respectively, min _ X, min _ Y and Min _ Z are the minimum values of geomagnetic component measurement data in X, Y and Z axial directions respectively, B X 、B Y 、B Z Respectively are zero offset coefficients in the X, Y and Z axial directions;
calculating the scaling factor by:
wherein S is X 、S Y 、S Z Are the proportionality coefficients in the X, Y and Z axial directions respectively.
8. The method according to claim 7, wherein the true value of the geomagnetic component is calculated by:
wherein, B Xt 、B Yt 、B Zt Respectively, target zero offset coefficient, S, in X, Y, Z axial directions Xt 、S Yt 、S Zt Respectively, target proportionality coefficients in X, Y and Z axial directions, H X 、H Y 、H Z True values of geomagnetic components in X, Y and Z axial directions, M X 、M Y 、M Z The measured values of the geomagnetic components in the X, Y and Z axial directions are respectively.
9. The method of claim 8, wherein the toolface angle is calculated by:
wherein α is the toolface angle.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method for calculating a toolface angle according to any one of claims 1 to 9.
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| CN115728698A (en) * | 2023-01-28 | 2023-03-03 | 国仪量子(合肥)技术有限公司 | Magnetometer calibration method and device, storage medium and electronic equipment |
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