CN116856913A - An error calibration method of inclinometer under complex magnetic field interference - Google Patents

An error calibration method of inclinometer under complex magnetic field interference Download PDF

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CN116856913A
CN116856913A CN202310870154.5A CN202310870154A CN116856913A CN 116856913 A CN116856913 A CN 116856913A CN 202310870154 A CN202310870154 A CN 202310870154A CN 116856913 A CN116856913 A CN 116856913A
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coordinate system
inclinometer
axis
error
fluxgate sensor
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梁海波
张鹏
杨海
邹佳玲
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Southwest Petroleum University
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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
    • 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
    • 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

一种复杂磁场干扰下测斜仪误差校准方法An error calibration method of inclinometer under complex magnetic field interference

技术领域Technical field

本发明涉及数据处理领域，尤其涉及一种复杂磁场干扰下测斜仪的误差校正方法。The invention relates to the field of data processing, and in particular to an error correction method for an inclinometer under complex magnetic field interference.

背景技术Background technique

石油是工业的血液，随着需求的增大，油气资源勘探开发逐渐深入，油气资源已从中低勘探阶段过渡至中高勘探阶段，已由原来的的常规钻井开采逐渐向定向井、大位移井、多分支井等复杂钻井演变。小井眼导向钻井技术以其井眼尺寸小、造斜率高、钻速快，是定向井开发、老井恢复产能、应对钻井复杂事故的有效手段之一。Petroleum is the blood of the industry. With the increase in demand, the exploration and development of oil and gas resources have gradually deepened. Oil and gas resources have transitioned from the medium-low exploration stage to the medium-high exploration stage. The original conventional drilling has gradually shifted to directional wells, extended reach wells, The evolution of complex drilling such as multilateral wells. Small-hole directional drilling technology, with its small hole size, high deflection rate and fast drilling rate, is one of the effective means to develop directional wells, restore production capacity of old wells, and deal with complex drilling accidents.

在确定小井眼井的近钻头信息(井斜角、工具面胶、方位角)时需要用到井下随钻测斜仪，通常采用磁通门提供钻头的方位角信息，并配合加速度计测量重力场计算井斜角和工具面角。但是，磁通门易受太阳风暴、钻井液、地层铁磁性矿物质、邻井以及钻杆等产生的磁干扰影响，导致测量误差偏大。When determining the near-bit information (well inclination angle, tool face glue, azimuth angle) of small borehole wells, an downhole inclinometer while drilling is required. A fluxgate is usually used to provide the azimuth information of the bit, and is used in conjunction with an accelerometer to measure gravity. Field calculation of well inclination angle and tool face angle. However, fluxgates are susceptible to magnetic interference caused by solar storms, drilling fluids, ferromagnetic minerals in the formation, adjacent wells, and drill pipes, resulting in large measurement errors.

因此需要研究一种复杂磁场干扰下测斜仪误差校正方法，校正在小井眼钻井过程中当地磁场所带来的干扰及钻井套管本身所带来的磁干扰，完成小井眼井近钻头姿态信息的较准。Therefore, it is necessary to study an inclinometer error correction method under complex magnetic field interference to correct the interference caused by the local magnetic field and the magnetic interference caused by the drilling casing itself during the drilling process of small wellbore, and complete the near-bit attitude information of the small wellbore. more accurate.

发明内容Contents of the invention

本发明的目的在于解决上述现有技术存在的缺陷，提供一种复杂磁场干扰下测斜仪误差校准方法。The purpose of the present invention is to solve the above-mentioned defects in the prior art and provide an inclinometer error calibration method under complex magnetic field interference.

本发明将加速度计和磁通门传感器集成在测量短节中，分析开采过程中的井身结构以及所处位置地磁场和钻具自身，分别建立地理三轴坐标系与测斜仪三轴坐标系，通过旋转的方式将地理坐标系旋转至测斜仪坐标系上，通过欧拉角理论得到从地理坐标系到测斜仪坐标系的转换矩阵。得到钻头的井斜角、工具面角即方位角，分析磁通门传感器的零偏、安装误差、标度因数和地磁场和磁屏蔽效应对测量结果的影响特性，构建近钻头随钻测量系统中磁通门传感器的误差模型，对不同误差建立不同的磁通门传感器误差模型误差动态校正策略，实现对近钻头随钻测量系统磁通门传感器数据误差的动态校准。本发明减小了测斜仪在复杂磁场中的误差，测斜仪的测量精度显著提高。This invention integrates the accelerometer and fluxgate sensor into the measuring sub-section, analyzes the well structure during the mining process, the geomagnetic field at the location and the drilling tool itself, and establishes the geographical three-axis coordinate system and the inclinometer three-axis coordinate respectively. System, the geographical coordinate system is rotated to the inclinometer coordinate system by rotation, and the transformation matrix from the geographical coordinate system to the inclinometer coordinate system is obtained through Euler angle theory. Obtain the inclination angle and tool face angle of the drill bit, that is, the azimuth angle, analyze the zero offset, installation error, scaling factor of the fluxgate sensor and the influence of the geomagnetic field and magnetic shielding effect on the measurement results, and build a near-bit measurement while drilling system The error model of the fluxgate sensor is used to establish different error dynamic correction strategies for fluxgate sensor error models for different errors to achieve dynamic calibration of fluxgate sensor data errors in the near-bit measurement while drilling system. The invention reduces the error of the inclinometer in a complex magnetic field, and significantly improves the measurement accuracy of the inclinometer.

本发明采用如下技术方案：The present invention adopts the following technical solutions:

一种复杂磁场干扰下测斜仪误差校准方法，包括如下步骤：An inclinometer error calibration method under complex magnetic field interference, including the following steps:

S1.分析开采过程中的井身结构以及所处位置地磁场和钻具自身，分别建立地理三轴坐标系与测斜仪三轴坐标系。S1. Analyze the well structure during the mining process, the geomagnetic field at the location, and the drilling tool itself, and establish a geographical three-axis coordinate system and an inclinometer three-axis coordinate system respectively.

S2.根据S1所述的地理三轴坐标系与测斜仪三轴坐标系，通过旋转的方式将地理三轴坐标系旋转至测斜仪三轴坐标系上。S2. According to the geographical three-axis coordinate system and the inclinometer three-axis coordinate system described in S1, rotate the geographical three-axis coordinate system to the inclinometer three-axis coordinate system through rotation.

S3.通过欧拉角理论得到从地理三轴坐标系到测斜仪三轴坐标系的转换矩阵，得到钻头的井斜角、工具面角即方位角。S3. Obtain the transformation matrix from the geographical three-axis coordinate system to the inclinometer three-axis coordinate system through Euler angle theory, and obtain the inclination angle, tool face angle, or azimuth angle of the drill bit.

S4.分析磁通门传感器的零偏、安装误差、标度因数和地磁场和磁屏蔽效应对测量结果的影响特性，构建近钻头随钻测量系统中磁通门传感器的误差模型。S4. Analyze the zero bias, installation error, scaling factor of the fluxgate sensor and the influence of the geomagnetic field and magnetic shielding effect on the measurement results, and construct an error model of the fluxgate sensor in the near-bit drilling measurement system.

S5.利用S4所述误差模型，对不同误差建立不同的磁通门传感器误差模型误差动态校正策略，实现对近钻头随钻测量系统磁通门传感器数据误差的动态校正。S5. Use the error model described in S4 to establish different fluxgate sensor error model error dynamic correction strategies for different errors to achieve dynamic correction of fluxgate sensor data errors in the near-bit measurement while drilling system.

其中，步骤S1中，建立的地理三轴坐标系，以钻井时当地的东方XR轴，以当地的磁北方向为YR轴，以当地的地平面的垂线方向为ZR轴，地理三轴坐标系采用右手准则；Among them, in step S1, the geographical three-axis coordinate system is established, with the local east X R axis at the time of drilling, the local magnetic north direction as the Y R axis, and the vertical direction of the local ground plane as the Z R axis. The axial coordinate system adopts the right-hand criterion;

步骤S1中，建立的测斜仪三轴坐标系，以钻井时当地的东方为XR轴，以当地的磁北方向为YR轴，以当地的地平面的垂线方向为ZR轴，地理三轴坐标系采用右手准则；In step S1, the three-axis coordinate system of the inclinometer is established, with the local east at the time of drilling as the X R axis, the local magnetic north direction as the Y R axis, and the vertical direction of the local ground plane as the Z R axis. The three-axis coordinate system adopts the right-hand criterion;

步骤S1中，建立的测斜仪三轴坐标系，以0为原点，以测斜仪的轴向方向为Yb轴，以0为原点以测斜仪的工具面法线方向为Zb轴，Xb轴为与Zb轴和Yb轴垂直且与Zb轴为同一平面的轴，测斜仪三轴坐标系采用右手准则。In step S1, the three-axis coordinate system of the inclinometer is established, with 0 as the origin, the axial direction of the inclinometer as the Y b axis, 0 as the origin, and the normal direction of the tool surface of the inclinometer as the Z b axis. , the X b axis is an axis perpendicular to the Z b axis and Y b axis and in the same plane as the Z b axis. The three-axis coordinate system of the inclinometer adopts the right-hand criterion.

步骤S2中，旋转方式为以测斜仪三轴坐标系为参考系，将地理坐标系旋转与它重合。旋转方式如下：In step S2, the rotation method is to use the three-axis coordinate system of the inclinometer as the reference system and rotate the geographical coordinate system to coincide with it. The rotation is as follows:

步骤S3中，磁通门传感器和加速度传感器安装在随钻测量短节中，将测量短节安装在套管中。In step S3, the fluxgate sensor and acceleration sensor are installed in the measurement sub-joint while drilling, and the measurement sub-joint is installed in the casing.

步骤S3中，从地理三轴坐标系到测斜仪三轴坐标系的转换矩阵为：In step S3, the transformation matrix from the geographical three-axis coordinate system to the inclinometer three-axis coordinate system is:

式中，β为井斜角，α为方位角，γ为工具角。In the formula, β is the well inclination angle, α is the azimuth angle, and γ is the tool angle.

其中， in,

其中，分别为沿钻具三个轴向安装的三轴加速度计测量的重力场分量，/>分别为沿钻具三个轴向安装的三轴磁强计测量的磁场强度分量。in, are the gravity field components measured by three-axis accelerometers installed along the three axes of the drilling tool,/> They are the magnetic field intensity components measured by three-axis magnetometers installed along the three axes of the drilling tool.

步骤S4中，分析磁通门传感器的零偏、安装误差、标度因数和地磁场和磁屏蔽效应对测量结果的影响特性，构建近钻头随钻测量系统中磁通门传感器的误差模型，该模型的数学表达式为：In step S4, analyze the zero bias, installation error, scaling factor of the fluxgate sensor and the influence characteristics of the geomagnetic field and magnetic shielding effect on the measurement results, and construct an error model of the fluxgate sensor in the near-bit drilling measurement system. The mathematical expression of the model is:

其中，分别为磁通门传感器X轴、Y轴、Z轴的理论输出值；分别为磁通门传感器X轴、Y轴、Z轴的实际输出值，A为椭球系数矩阵，其中，a，b，c,d,e,f,g,h,i为二次曲面方程的系数，B为仪器零偏误差和硬磁误差的和。in, They are the theoretical output values of the X-axis, Y-axis, and Z-axis of the fluxgate sensor respectively; are the actual output values of the X-axis, Y-axis, and Z-axis of the fluxgate sensor respectively, A is the ellipsoid coefficient matrix, where a, b, c, d, e, f, g, h, i are quadratic surface equations The coefficient of B is the sum of the instrument zero bias error and the hard magnetic error.

步骤S5中，对不同误差建立不同的磁通门传感器误差模型误差动态校正策略，采用牛顿迭代算法对感应磁场进行矫正，其数学表达式为：In step S5, different fluxgate sensor error model error dynamic correction strategies are established for different errors, and Newton iterative algorithm is used to correct the induced magnetic field. The mathematical expression is:

其中，X0为f(x)＝0的根的初始近似值、X1为f(x)＝0的根的一次近似值、f(x0)为X0时曲线对应的值、f’(x1)为X0时曲线对应的导数值。Among them, X 0 is the initial approximation of the root of f(x ) =0, 1 ) is the derivative value corresponding to the curve when X 0 .

步骤S5中，对不同误差建立不同的磁通门传感器误差模型误差动态校正策略，采用椭球方程确定椭球的球心，采用曲线拟合的最小二乘法对固定磁场进行矫正，其数学表达式为：In step S5, different fluxgate sensor error model error dynamic correction strategies are established for different errors. The ellipsoid equation is used to determine the center of the ellipsoid. The least squares method of curve fitting is used to correct the fixed magnetic field. Its mathematical expression for:

其中，δi为误差，S*(xi)为拟合函数。yi为实际测量所得数据曲线。Among them, δ i is the error, and S * (x i ) is the fitting function. y i is the data curve obtained from actual measurement.

本发明的有益效果：Beneficial effects of the present invention:

本发明的目的在于解决上述现有技术存在的缺陷，提供一种复杂磁场干扰下测斜仪误差校准方法，将加速度计和磁通门传感器集成在测量短节中，分析开采过程中的井身结构以及所处位置地磁场和钻具自身，分别建立地理三轴坐标系与测斜仪三轴坐标系，通过旋转的方式将地理三轴坐标系旋转至测斜仪三轴坐标系，通过欧拉角理论得到从地理三轴坐标到测斜仪三轴坐标系的转换矩阵。进而得到钻头的井斜角、工具面角即方位角，分析磁通门传感器的零偏、安装误差、标度因数和地磁场和磁屏蔽效应对测量结果的影响特性，构建近钻头随钻测量系统中磁通门传感器的误差模型，对不同误差建立不同的磁通门传感器误差模型误差动态校正策略，实现对近钻头随钻测量系统磁通门传感器数据误差的动态校正。The purpose of the present invention is to solve the above-mentioned defects in the prior art, provide an inclinometer error calibration method under complex magnetic field interference, integrate the accelerometer and fluxgate sensor in the measuring sub-joint, and analyze the wellbore during the mining process. The structure, the geomagnetic field at its location, and the drilling tool itself establish a geographical three-axis coordinate system and an inclinometer three-axis coordinate system respectively. The geographical three-axis coordinate system is rotated to the inclinometer three-axis coordinate system through rotation. The pull angle theory obtains the transformation matrix from the geographic three-axis coordinate system to the inclinometer three-axis coordinate system. Then, the inclination angle, tool face angle, or azimuth angle of the drill bit is obtained, and the influence characteristics of the fluxgate sensor's zero offset, installation error, scaling factor, geomagnetic field, and magnetic shielding effect on the measurement results are analyzed, and a near-bit drilling measurement is constructed. The error model of the fluxgate sensor in the system establishes different error dynamic correction strategies for fluxgate sensor error models for different errors to achieve dynamic correction of fluxgate sensor data errors in the near-bit measurement while drilling system.

附图说明Description of the drawings

图1为本发明的步骤流程图；Figure 1 is a step flow chart of the present invention;

图2为本发明所建立的地磁场三轴坐标系与传感器三轴坐标系；Figure 2 shows the three-axis coordinate system of the geomagnetic field and the three-axis coordinate system of the sensor established by the present invention;

图3为本发明上位机中数字显示屏数据实时显示界面；Figure 3 is a real-time display interface of digital display screen data in the host computer of the present invention;

图4为本发明校准前后磁场强度模拟值。Figure 4 shows the simulated values of magnetic field intensity before and after calibration according to the present invention.

具体实施方式Detailed ways

为使本发明的目的、技术方案和优点更加清楚，下面本发明中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention are described clearly and completely below. Obviously, the described embodiments are some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present invention.

如图1-2所示，本发明的一种复杂磁场干扰下测斜仪的误差校准方法，包括如下步骤：As shown in Figure 1-2, the error calibration method of an inclinometer under complex magnetic field interference of the present invention includes the following steps:

S1.分析开采过程中的井身结构以及所处位置地磁场和钻具自身，分别建立地理三轴坐标系与测斜仪三轴坐标系。S1. Analyze the well structure during the mining process, the geomagnetic field at the location, and the drilling tool itself, and establish a geographical three-axis coordinate system and an inclinometer three-axis coordinate system respectively.

S2.根据S1所述的地理三轴坐标系和测斜仪三轴坐标系，通过旋转的方式将地理坐标系旋转至测斜仪三轴坐标系上。S2. According to the geographical three-axis coordinate system and the inclinometer three-axis coordinate system described in S1, rotate the geographical coordinate system to the inclinometer three-axis coordinate system by rotating.

S3.通过欧拉角理论得到从地理坐标系到测斜仪三轴坐标系的转换矩阵，得到钻头的井斜角、工具面角即方位角。S3. Obtain the transformation matrix from the geographical coordinate system to the inclinometer three-axis coordinate system through Euler angle theory, and obtain the inclination angle, tool face angle, or azimuth angle of the drill bit.

S4.分析磁通门传感器的零偏、安装误差、标度因数和地磁场和磁屏蔽效应对测量结果的影响特性，构建近钻头随钻测量系统中磁通门传感器的误差模型。S4. Analyze the zero bias, installation error, scaling factor of the fluxgate sensor and the influence of the geomagnetic field and magnetic shielding effect on the measurement results, and construct an error model of the fluxgate sensor in the near-bit drilling measurement system.

S5.利用S4所述误差模型，对不同误差建立不同的磁通门传感器误差模型误差动态校正策略，实现对近钻头随钻测量系统磁通门传感器数据误差的动态校准。S5. Use the error model described in S4 to establish different dynamic correction strategies for fluxgate sensor error models for different errors to achieve dynamic calibration of fluxgate sensor data errors in the near-bit measurement while drilling system.

其中，步骤S1中，建立的地理三轴坐标系，以钻井时当地的东方为XR轴，以当地的磁北方向为YR轴，以当地的地平面的垂线方向为ZR轴，地理三轴坐标系采用右手准则；Among them, in step S1, the geographical three-axis coordinate system is established, with the local east at the time of drilling as the X R axis, the local magnetic north direction as the Y R axis, and the vertical direction of the local ground plane as the Z R axis. The three-axis coordinate system adopts the right-hand criterion;

步骤S1中，建立的测斜仪三轴坐标系，以0为原点，以测斜仪的轴向方向为Yb轴，以0为原点以测斜仪的工具面法线方向为Zb轴，Xb轴为Zb轴和Yb轴垂直且与Zb轴为同一平面的轴，测斜仪三轴坐标系采用右手准则。In step S1, the three-axis coordinate system of the inclinometer is established, with 0 as the origin, the axial direction of the inclinometer as the Y b axis, 0 as the origin, and the normal direction of the tool surface of the inclinometer as the Z b axis. , the X b axis is the axis that is perpendicular to the Z b axis and the Y b axis and is on the same plane as the Z b axis. The three-axis coordinate system of the inclinometer adopts the right-hand criterion.

步骤S2中，旋转方式为以测斜仪三轴坐标系为参考系，将地理三轴坐标系旋转与它重合。旋转方式如下：In step S2, the rotation method is to use the three-axis coordinate system of the inclinometer as the reference system and rotate the three-axis coordinate system of the geography to coincide with it. The rotation is as follows:

步骤S3中，磁通门传感器和加速度传感器安装在随钻测量短节中，将测量短节安装在套管中。In step S3, the fluxgate sensor and acceleration sensor are installed in the measurement sub-joint while drilling, and the measurement sub-joint is installed in the casing.

步骤S3中，从地理三轴坐标系到测斜仪三轴坐标系的转换矩阵为：In step S3, the transformation matrix from the geographical three-axis coordinate system to the inclinometer three-axis coordinate system is:

式中，β为井斜角，α为方位角，γ为工具角。In the formula, β is the well inclination angle, α is the azimuth angle, and γ is the tool angle.

其中， in,

其中，分别为沿钻具三个轴向安装的三轴加速度计测量的重力场分量，/>分别为沿钻具三个轴向安装的三轴磁强计测量的磁场强度分量。in, are the gravity field components measured by three-axis accelerometers installed along the three axes of the drilling tool,/> They are the magnetic field intensity components measured by three-axis magnetometers installed along the three axes of the drilling tool.

步骤S4中，分析磁通门传感器的零偏、安装误差、标度因数和地磁场和磁屏蔽效应对测量结果的影响特性，构建近钻头随钻测量系统中磁通门传感器的误差模型，该模型的数学表达式为：In step S4, analyze the zero bias, installation error, scaling factor of the fluxgate sensor and the influence characteristics of the geomagnetic field and magnetic shielding effect on the measurement results, and construct an error model of the fluxgate sensor in the near-bit drilling measurement system. The mathematical expression of the model is:

其中，分别为磁通门传感器X轴、Y轴、Z轴的理论输出值；分别为磁通门传感器X轴、Y轴、Z轴的实际输出值，A为椭球系数矩阵，其中，a，b，c,d,e,f,g,h,i为二次曲面方程的系数，B为仪器零偏误差和硬磁误差的和。in, They are the theoretical output values of the X-axis, Y-axis, and Z-axis of the fluxgate sensor respectively; are the actual output values of the X-axis, Y-axis, and Z-axis of the fluxgate sensor respectively, A is the ellipsoid coefficient matrix, where a, b, c, d, e, f, g, h, i are quadratic surface equations The coefficient of B is the sum of the instrument zero bias error and the hard magnetic error.

步骤S5中，对不同误差建立不同的磁通门传感器误差模型误差动态校正策略，采用牛顿迭代算法对感应磁场进行矫正，其数学表达式为：In step S5, different fluxgate sensor error model error dynamic correction strategies are established for different errors, and Newton iterative algorithm is used to correct the induced magnetic field. The mathematical expression is:

其中，X0为f(x)＝0的根的初始近似值、X1为f(x)＝0的根的一次近似值、f(x0)为X0时曲线对应的值、f’(x1)为X0时曲线对应的导数值。Among them, X 0 is the initial approximation of the root of f(x ) =0, 1 ) is the derivative value corresponding to the curve when X 0 .

步骤S5中，对不同误差建立不同的磁通门传感器误差模型误差动态校正策略，采用椭球方程确定椭球的球心，采用曲线拟合的最小二乘法对固定磁场进行矫正，其数学表达式为：In step S5, different fluxgate sensor error model error dynamic correction strategies are established for different errors. The ellipsoid equation is used to determine the center of the ellipsoid. The least squares method of curve fitting is used to correct the fixed magnetic field. Its mathematical expression for:

其中，δi为误差，S*(xi)为拟合函数，yi为实际测量所得数据曲线。Among them, δ i is the error, S * (x i ) is the fitting function, and y i is the actual measured data curve.

实施例Example

为证明本发明方法的可行性，于是采用实验进行验证，本实验将待标定的测斜仪套管放置于校验架上，通过数字显示屏读取套管井斜角、方位角、工具面角，同时通过串口读取套管内的三轴加速度和三轴磁场并写入上位机软件，通过上位机软件进行误差补偿。将测斜仪磁通门传感器的三轴输出的原始磁场强度模值与采用本发明方法校正后的磁场强度模拟值进行对比。如图4所示，原始磁场强度模值波动比校正后的磁场强度模值大，校正后的磁场强度模值标准差为0.09，相较于校正前的磁场强度模值标准差0.35小很多，从图4中可知使用本发明的方法后测斜仪在复杂磁场中的误差减小，测斜仪的测量精度显著提高。In order to prove the feasibility of the method of the present invention, an experiment was used to verify it. In this experiment, the inclinometer casing to be calibrated was placed on the calibration frame, and the casing well inclination angle, azimuth angle, and tool face angle were read through the digital display , at the same time, the three-axis acceleration and three-axis magnetic field in the casing are read through the serial port and written into the host computer software, and error compensation is performed through the host computer software. The original magnetic field intensity module value of the three-axis output of the inclinometer fluxgate sensor is compared with the magnetic field intensity analog value corrected by the method of the present invention. As shown in Figure 4, the original magnetic field intensity modulus fluctuates larger than the corrected magnetic field intensity modulus. The corrected magnetic field intensity modulus standard deviation is 0.09, which is much smaller than the pre-corrected magnetic field intensity modulus standard deviation of 0.35. It can be seen from Figure 4 that after using the method of the present invention, the error of the inclinometer in a complex magnetic field is reduced, and the measurement accuracy of the inclinometer is significantly improved.

最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be used Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent substitutions are made to some of the technical features; however, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate 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.
CN202310870154.5A 2023-07-17 2023-07-17 An error calibration method of inclinometer under complex magnetic field interference Pending CN116856913A (en)

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