CN116856913A - Error calibration method for inclinometer under complex magnetic field interference - Google Patents
Error calibration method for inclinometer under complex magnetic field interference Download PDFInfo
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- 230000005291 magnetic effect Effects 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000005553 drilling Methods 0.000 claims abstract description 43
- 238000005259 measurement Methods 0.000 claims abstract description 27
- 230000005358 geomagnetic field Effects 0.000 claims abstract description 16
- 239000011159 matrix material Substances 0.000 claims abstract description 12
- 230000000694 effects Effects 0.000 claims abstract description 9
- 238000009434 installation Methods 0.000 claims abstract description 9
- 210000002445 nipple Anatomy 0.000 claims abstract description 9
- 238000006243 chemical reaction Methods 0.000 claims abstract description 5
- 238000012937 correction Methods 0.000 claims description 16
- 230000001133 acceleration Effects 0.000 claims description 4
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- 239000003208 petroleum Substances 0.000 description 1
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- 238000004513 sizing Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
- E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B2200/00—Special features related to earth drilling for obtaining oil, gas or water
- E21B2200/20—Computer models or simulations, e.g. for reservoirs under production, drill bits
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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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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Abstract
The invention provides an error calibration method of an inclinometer under the interference of a complex magnetic field, which comprises the steps of integrating an accelerometer and a fluxgate sensor in a measurement nipple, analyzing a well structure in the exploitation process, a geomagnetic field at the position and a drilling tool, respectively establishing a geographic three-axis coordinate system and an inclinometer three-axis coordinate system, rotating the geographic coordinate system onto the inclinometer coordinate system in a rotating mode, and obtaining a conversion matrix from the geographic coordinate system to the inclinometer coordinate system through an Euler angle theory. And obtaining the well inclination angle and the tool face angle of the drill bit, namely the azimuth angle, analyzing the influence characteristics of zero offset, installation error, scale factor and geomagnetic field and magnetic shielding effect of the fluxgate sensor on the measurement result, constructing an error model of the fluxgate sensor in the near-drill bit measurement while drilling system, and realizing the dynamic calibration of the data error of the fluxgate sensor of the near-drill bit measurement while drilling system. The invention reduces the error of the inclinometer in the complex magnetic field, and the measurement accuracy of the inclinometer is obviously improved.
Description
Technical Field
The invention relates to the field of data processing, in particular to an error correction method of an inclinometer under the interference of a complex magnetic field.
Background
Petroleum is industrial blood, and with the increase of demand, oil and gas resource exploration and development gradually goes deep, oil and gas resources are transited from a low exploration stage to a medium-high exploration stage, and the original conventional well drilling exploitation gradually evolves to complex well drilling such as directional wells, large-displacement wells, multi-branch wells and the like. The slim hole steering drilling technology is one of effective means for directional well development, old well recovery capacity and coping with complex drilling accidents due to small borehole size, high slope and high drilling speed.
In determining near bit information (well inclination angle, tool face sizing, azimuth angle) of a slim hole well, a downhole inclinometer is needed, a fluxgate is generally adopted to provide azimuth angle information of the drill bit, and an accelerometer is matched to measure a gravity field to calculate the well inclination angle and the tool face angle. However, fluxgates are susceptible to magnetic interference caused by solar storms, drilling fluids, formation ferromagnetic minerals, adjacent wells, drill pipes, and the like, resulting in large measurement errors.
Therefore, a method for correcting the error of the inclinometer under the interference of a complex magnetic field is required to be studied, so that the interference caused by a local magnetic field in the process of drilling a slim hole and the magnetic interference caused by a drilling sleeve are corrected, and the accuracy of the attitude information of the near bit of the slim hole well is finished.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide an error calibration method of an inclinometer under the interference of a complex magnetic field.
According to the invention, an accelerometer and a fluxgate sensor are integrated in a measuring nipple, a well structure in the exploitation process, a geomagnetic field at the position and a drilling tool are analyzed, a geographic three-axis coordinate system and a inclinometer three-axis coordinate system are respectively established, the geographic coordinate system is rotated onto the inclinometer coordinate system in a rotating mode, and a conversion matrix from the geographic coordinate system to the inclinometer coordinate system is obtained through Euler angle theory. And obtaining the well inclination angle and the tool face angle of the drill bit, namely the azimuth angle, analyzing the influence characteristics of zero offset, installation error, scale factor and geomagnetic field and magnetic shielding effect of the fluxgate sensor on a measurement result, constructing an error model of the fluxgate sensor in the near-drill bit measurement-while-drilling system, establishing different dynamic correction strategies of the error model errors of the fluxgate sensor for different errors, and realizing dynamic calibration of the data errors of the fluxgate sensor of the near-drill bit measurement-while-drilling system. The invention reduces the error of the inclinometer in the complex magnetic field, and the measurement accuracy of the inclinometer is obviously improved.
The invention adopts the following technical scheme:
an error calibration method of an inclinometer under the interference of a complex magnetic field comprises the following steps:
s1, analyzing a well structure in the exploitation process, a geomagnetic field at the position and a drilling tool, and respectively establishing a geographic triaxial coordinate system and an inclinometer triaxial coordinate system.
S2, rotating the geographic three-axis coordinate system to the inclinometer three-axis coordinate system in a rotating mode according to the geographic three-axis coordinate system and the inclinometer three-axis coordinate system described in the S1.
S3, obtaining a conversion matrix from a geographic three-axis coordinate system to a inclinometer three-axis coordinate system through Euler angle theory, and obtaining the well bevel angle and the tool face angle of the drill bit, namely the azimuth angle.
S4, analyzing the influence characteristics of zero offset, installation error, scale factor, geomagnetic field and magnetic shielding effect of the fluxgate sensor on a measurement result, and constructing an error model of the fluxgate sensor in the near-bit measurement-while-drilling system.
S5, establishing different dynamic correction strategies for the errors of the error model of the fluxgate sensor by utilizing the error model in S4, and realizing dynamic correction for the data errors of the fluxgate sensor of the near-bit measurement-while-drilling system.
In step S1, a geographic three-axis coordinate system is established for local eastern X during drilling R An axis with local magnetic north direction as Y R Axis Z is the vertical direction of the local ground plane R The axle, geographic triaxial coordinate system adopts the right hand rule;
in step S1, the three-axis coordinate system of the inclinometer is established, and the local eastern is X during drilling R An axis with local magnetic north direction as Y R Axis Z is the vertical direction of the local ground plane R The axle, geographic triaxial coordinate system adopts the right hand rule;
in step S1, the established triaxial coordinate system of the inclinometer takes 0 as an origin and the axial direction of the inclinometer as Y b Shaft with 0 as the originThe point is Z with the normal direction of the tool surface of the inclinometer b Axis X b The axis is with Z b Axes and Y b Perpendicular to axis and with Z b The axes are the same plane axes, and the three-axis coordinate system of the inclinometer adopts the right-hand rule.
In step S2, the rotation mode is to rotate the geographic coordinate system with the inclinometer three-axis coordinate system as the reference system. The rotation mode is as follows:
in step S3, the fluxgate sensor and the acceleration sensor are installed in the measurement while drilling nipple, and the measurement nipple is installed in the casing.
In step S3, the transformation matrix from the geographic three-axis coordinate system to the inclinometer three-axis coordinate system is:
where β is the well inclination angle, α is the azimuth angle, and γ is the tool angle.
wherein ,
wherein ,gravity field components measured by triaxial accelerometers respectively installed along three axial directions of drilling tool, +.>The magnetic field intensity components measured by the triaxial magnetometer installed along three axial directions of the drilling tool are respectively.
In step S4, the influence characteristics of zero offset, installation error, scale factor, geomagnetic field and magnetic shielding effect of the fluxgate sensor on the measurement result are analyzed, an error model of the fluxgate sensor in the near-bit measurement while drilling system is constructed, and the mathematical expression of the model is as follows:
wherein ,theoretical output values of an X axis, a Y axis and a Z axis of the fluxgate sensor are respectively obtained;the actual output values of the fluxgate sensor in the X axis, the Y axis and the Z axis are respectively represented by an ellipsoidal coefficient matrix, wherein a, B, c, d, e, f, g, h and i are coefficients of a quadric equation, and B is the sum of zero bias error and hard magnetic error of the instrument.
In step S5, different dynamic correction strategies of the error model error of the fluxgate sensor are established for different errors, and the induced magnetic field is corrected by adopting a newton iterative algorithm, wherein the mathematical expression is as follows:
wherein ,X0 Initial approximation of root, X, of f (X) =0 1 A first approximation of the root of f (x) =0, f (x) 0 ) Is X 0 The corresponding value of the time curve, f' (x) 1 ) Is X 0 The derivative value corresponding to the curve.
In step S5, different dynamic correction strategies of the error model error of the fluxgate sensor are established for different errors, the sphere center of the ellipsoid is determined by adopting an ellipsoid equation, and the fixed magnetic field is corrected by adopting a curve fitting least square method, wherein the mathematical expression is as follows:
wherein ,δi Is error, S * (x i ) Is a fitting function. y is i The resulting data curve is for actual measurements.
The invention has the beneficial effects that:
the invention aims to solve the defects in the prior art, and provides a method for calibrating an error of an inclinometer under the interference of a complex magnetic field, wherein an accelerometer and a fluxgate sensor are integrated in a measuring nipple, a well structure in the exploitation process, a geomagnetic field at the position and a drilling tool are analyzed, a geographic triaxial coordinate system and an inclinometer triaxial coordinate system are respectively established, the geographic triaxial coordinate system is rotated to the inclinometer triaxial coordinate system in a rotating mode, and a conversion matrix from the geographic triaxial coordinate to the inclinometer triaxial coordinate system is obtained through Euler angle theory. And further, the well inclination angle, the tool face angle, namely the azimuth angle of the drill bit is obtained, the influence characteristics of zero offset, installation error, scale factor, geomagnetic field and magnetic shielding effect of the fluxgate sensor on a measurement result are analyzed, an error model of the fluxgate sensor in the near-drill bit measurement-while-drilling system is constructed, different dynamic correction strategies of the errors of the fluxgate sensor error model are established for different errors, and dynamic correction of the data errors of the fluxgate sensor of the near-drill bit measurement-while-drilling system is realized.
Drawings
FIG. 1 is a flow chart of the steps of the present invention;
FIG. 2 is a three-axis coordinate system of geomagnetic field and a three-axis coordinate system of a sensor established by the present invention;
FIG. 3 is a real-time display interface of the digital display screen data in the upper computer;
FIG. 4 shows the simulation values of the magnetic field strength before and after calibration according to the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the present invention will be clearly and completely described below, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-2, the error calibration method of the inclinometer under the interference of a complex magnetic field comprises the following steps:
s1, analyzing a well structure in the exploitation process, a geomagnetic field at the position and a drilling tool, and respectively establishing a geographic triaxial coordinate system and an inclinometer triaxial coordinate system.
S2, rotating the geographic coordinate system to the inclinometer triaxial coordinate system in a rotating mode according to the geographic triaxial coordinate system and the inclinometer triaxial coordinate system described in the S1.
S3, obtaining a transformation matrix from a geographic coordinate system to a triaxial coordinate system of the inclinometer through Euler angle theory, and obtaining the well bevel angle and the tool face angle of the drill bit, namely the azimuth angle.
S4, analyzing the influence characteristics of zero offset, installation error, scale factor, geomagnetic field and magnetic shielding effect of the fluxgate sensor on a measurement result, and constructing an error model of the fluxgate sensor in the near-bit measurement-while-drilling system.
S5, establishing different dynamic correction strategies for the errors of the error model of the fluxgate sensor by utilizing the error model in the S4, and realizing dynamic calibration for the data errors of the fluxgate sensor of the near-bit measurement-while-drilling system.
In step S1, the established geographic three-axis coordinate system is X as the local east during drilling R An axis with local magnetic north direction as Y R Axis Z is the vertical direction of the local ground plane R The axle, geographic triaxial coordinate system adopts the right hand rule;
in step S1, the established triaxial coordinate system of the inclinometer takes 0 as an origin and the axial direction of the inclinometer as Y b An axis with 0 as an origin and the normal direction of a tool surface of the inclinometer as Z b Axis X b The axis is Z b Axes and Y b Perpendicular to axis and with Z b The axes being the same planeThe axis of the plane, the three-axis coordinate system of the inclinometer adopts the right-hand rule.
In step S2, the rotation mode is to rotate the geographic three-axis coordinate system with the inclinometer three-axis coordinate system as a reference system. The rotation mode is as follows:
in step S3, the fluxgate sensor and the acceleration sensor are installed in the measurement while drilling nipple, and the measurement nipple is installed in the casing.
In step S3, the transformation matrix from the geographic three-axis coordinate system to the inclinometer three-axis coordinate system is:
where β is the well inclination angle, α is the azimuth angle, and γ is the tool angle.
wherein ,
wherein ,gravity field components measured by triaxial accelerometers respectively installed along three axial directions of drilling tool, +.>The magnetic field intensity components measured by the triaxial magnetometer installed along three axial directions of the drilling tool are respectively.
In step S4, the influence characteristics of zero offset, installation error, scale factor, geomagnetic field and magnetic shielding effect of the fluxgate sensor on the measurement result are analyzed, an error model of the fluxgate sensor in the near-bit measurement while drilling system is constructed, and the mathematical expression of the model is as follows:
wherein ,theoretical output values of an X axis, a Y axis and a Z axis of the fluxgate sensor are respectively obtained;the actual output values of the fluxgate sensor in the X axis, the Y axis and the Z axis are respectively represented by an ellipsoidal coefficient matrix, wherein a, B, c, d, e, f, g, h and i are coefficients of a quadric equation, and B is the sum of zero bias error and hard magnetic error of the instrument.
In step S5, different dynamic correction strategies of the error model error of the fluxgate sensor are established for different errors, and the induced magnetic field is corrected by adopting a newton iterative algorithm, wherein the mathematical expression is as follows:
wherein ,X0 Initial approximation of root, X, of f (X) =0 1 A first approximation of the root of f (x) =0, f (x) 0 ) Is X 0 The corresponding value of the time curve, f' (x) 1 ) Is X 0 The derivative value corresponding to the curve.
In step S5, different dynamic correction strategies of the error model error of the fluxgate sensor are established for different errors, the sphere center of the ellipsoid is determined by adopting an ellipsoid equation, and the fixed magnetic field is corrected by adopting a curve fitting least square method, wherein the mathematical expression is as follows:
wherein ,δi Is error, S * (x i ) To fit a function, y i The resulting data curve is for actual measurements.
Examples
In order to prove the feasibility of the method, experiments are adopted to verify, the sleeve of the inclinometer to be calibrated is placed on a calibration frame, the sleeve well bevel angle, the azimuth angle and the tool face angle are read through a digital display screen, and simultaneously, the triaxial acceleration and the triaxial magnetic field in the sleeve are read through a serial port and written into upper computer software, and error compensation is carried out through the upper computer software. And comparing the original magnetic field intensity analog value output by the three axes of the fluxgate sensor of the inclinometer with the magnetic field intensity analog value corrected by the method. As shown in fig. 4, the fluctuation of the original magnetic field intensity module value is larger than the corrected magnetic field intensity module value, the standard deviation of the corrected magnetic field intensity module value is 0.09, and is much smaller than the standard deviation of the magnetic field intensity module value before correction, as can be seen from fig. 4, the error of the inclinometer in the complex magnetic field after the method of the invention is used is reduced, and the measurement precision of the inclinometer is obviously improved.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. The error calibration method of the inclinometer under the interference of the complex magnetic field is characterized by comprising the following steps of:
s1, analyzing a well structure in the exploitation process, a geomagnetic field at the position and a drilling tool, and respectively establishing a geographic triaxial coordinate system and an inclinometer triaxial coordinate system;
s2, rotating the geographic three-axis coordinate system to the inclinometer three-axis coordinate system in a rotating mode according to the geographic three-axis coordinate system and the inclinometer three-axis coordinate system described in the S1;
s3, obtaining a conversion matrix from a geographic triaxial coordinate system to a inclinometer triaxial coordinate system through Euler angle theory, and obtaining a well bevel angle and a tool face angle, namely an azimuth angle, of the drill bit;
s4, analyzing the influence characteristics of zero offset, installation error, scale factor, geomagnetic field and magnetic shielding effect of the fluxgate sensor on a measurement result, and constructing an error model of the fluxgate sensor in the near-bit measurement-while-drilling system;
s5, establishing different dynamic correction strategies for the errors of the error model of the fluxgate sensor by utilizing the error model in S4, and realizing dynamic correction for the data errors of the fluxgate sensor of the near-bit measurement-while-drilling system.
2. The method for calibrating error of inclinometer under complicated magnetic field interference as claimed in claim 1, wherein in step S1, a geographic three-axis coordinate system is established for local eastern X while drilling R An axis with local magnetic north direction as Y R Axis Z is the vertical direction of the local ground plane R The axle, geographic triaxial coordinate system adopts the right hand rule;
in step S1, the three-axis coordinate system of the inclinometer is established, and the local eastern is X during drilling R An axis with local magnetic north direction as Y R Axis Z is the vertical direction of the local ground plane R The axle, geographic triaxial coordinate system adopts the right hand rule;
in step S1, the established triaxial coordinate system of the inclinometer takes 0 as an origin and the axial direction of the inclinometer as Y b An axis with 0 as an origin and the normal direction of a tool surface of the inclinometer as Z b Axis X b The axis is with Z b Axes and Y b Perpendicular to axis and with Z b The axes are the same plane axes, and the three-axis coordinate system of the inclinometer adopts the right-hand rule.
3. The method for calibrating an error of an inclinometer under the interference of a complex magnetic field according to claim 1, wherein in step S2, the rotation mode is to use the triaxial coordinate system of the inclinometer as a reference system, and the geographic coordinate system is rotated to coincide with the triaxial coordinate system, and the rotation mode is as follows:
4. the method for calibrating error of inclinometer under complicated magnetic field interference according to claim 1, wherein in step S3, the fluxgate sensor and the acceleration sensor are installed in the measurement while drilling nipple, and the measurement nipple is installed in the casing:
in step S3, the transformation matrix from the geographic three-axis coordinate system to the inclinometer three-axis coordinate system is:
wherein, beta is a well inclination angle, alpha is an azimuth angle, and gamma is a tool angle;
wherein ,
wherein ,the gravity field components measured by triaxial accelerometers installed along three axial directions of the drilling tool,the magnetic field intensity components measured by the triaxial magnetometer installed along three axial directions of the drilling tool are respectively.
5. The method for calibrating error of inclinometer under complicated magnetic field interference as set forth in claim 1, wherein in step S4, the characteristics of zero bias, installation error, scale factor and influence of geomagnetic field and magnetic shielding effect of fluxgate sensor on measurement result are analyzed, an error model of fluxgate sensor in near-bit measurement while drilling system is constructed, and the mathematical expression of the model is:
wherein ,
wherein ,theoretical output values of an X axis, a Y axis and a Z axis of the fluxgate sensor are respectively obtained;the actual output values of the fluxgate sensor in the X axis, the Y axis and the Z axis are respectively represented by an ellipsoidal coefficient matrix, wherein a, B, c, d, e, f, g, h and i are coefficients of a quadric equation, and B is the sum of zero bias error and hard magnetic error of the instrument.
6. The method for calibrating error of inclinometer under complicated magnetic field interference as claimed in claim 1, wherein in step S5, different dynamic error correction strategies of the fluxgate sensor error model are established for different errors, and the induced magnetic field is corrected by adopting newton iterative algorithm;
in step S5, different dynamic correction strategies of the error model error of the fluxgate sensor are established for different errors, the spherical center of the ellipsoid is determined by adopting an ellipsoid equation, and the fixed magnetic field is corrected by adopting a curve fitting least square method.
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