CN1888386A - Strapdown inertial combine measurement controller adapted to whole-optical fiber digital slope level - Google Patents

Strapdown inertial combine measurement controller adapted to whole-optical fiber digital slope level Download PDF

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CN1888386A
CN1888386A CN 200610089775 CN200610089775A CN1888386A CN 1888386 A CN1888386 A CN 1888386A CN 200610089775 CN200610089775 CN 200610089775 CN 200610089775 A CN200610089775 A CN 200610089775A CN 1888386 A CN1888386 A CN 1888386A
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information
measurement
output
well pipe
error
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CN100489459C (en
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张春熹
高爽
张小跃
陈永奇
颜廷洋
乔鹏
任磊
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Beihang University
Beijing University of Aeronautics and Astronautics
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Beihang University
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Abstract

The present invention discloses a strapdown inertial combination measurement control device applicable to all-fibre digital clinometer, it is used for measuring well course of oil well and gas well, in particular it is applicable to conventional measurement with line and measurement while drilling. Said control device adopts strapdown inertial navigation principle, and utilizes main navigation system formed from optical-fibre gyroscope and anti-vibration accelerometer, under the condition of different working environments and measurement accuracy requirements respectively utilizes several external information of logging cable rope length, flux-gate sensor and zero speed and combines kalman filter so as to make system error estimation and correction of main inertial navigation system, and can limit error diffusion of inertial navigation system and form a high-accuracy combination inertial measurement instrument.

Description

Be applicable to the strapdown inertial combine measurement controller of full optical fiber digital inclinometer
Technical field
The present invention relates to a kind of information processing control device that improves the full optical fiber digital inclinometer certainty of measurement, more particularly say, be meant that inertia information that a kind of heat transfer agent of utilizing outside multi-sensor collection and optical fibre gyro are gathered carries out information fusion and handle, this strapdown inertial combine measurement controller can improve the certainty of measurement that full optical fiber digital inclinometer works long hours effectively.
Background technology
Along with the dilution of petroleum resources, the difficulty of exploitation is increasing.In the process of petroleum drilling and mining, press for the high precision gradient meter device that accurately to measure the well trajectory parameters and provide reliable design, exploitation information for industrial department.Especially for ultradeep well, when dark high pressure formation blowout incident takes place, need to bore relief well and stop blowout according to accurate well track.In addition, the development of modern drilling and production technology becomes a reality measurement while drilling (MWD), and desirable inclinometer is the position that can monitor and show in real time drill bit in the process that drill bit creeps into, so that operating personnel in time adjust drill bit, make it reach the target target area by planned course in advance.This all needs high-precision well track measuring apparatus.
At present, this type of deviational survey instrument that uses in the petroleum industry field mainly is to be combined with accelerometer as angular-rate sensor by fluxgate sensor or mechanical gyro, measures the azimuth and the hole angle of well.That the fluxgate type inclinometer has is simple in structure, price is low, the advantage of stable performance, but the well track that its tested oil well that can't realize disturbing being magnetic carries out is measured; And mechanical gyro formula inclinometer can remedy this shortcoming, but the inner intrinsic rotating mechanism of mechanical gyro makes and there is complex structure, fragile, defective such as vibration resistance is poor, drift is big.
Full optical fiber digital inclinometer is a kind of well track measuring apparatus based on fiber-optic gyroscope strapdown inertia measurement principle, the inertia measurement error of forming owing to optical fibre gyro and accelerometer can increase in growth in time, caused the certainty of measurement of inclinometer under the environment that works long hours lower, long high-acruracy survey requirement when being difficult to satisfy the actual use of oil well logging.Has high-precision advantage and in conjunction with the actual working environment and the condition of work of oil, natural gas logging operation, patent application of the present invention has proposed a kind of strapdown inertial combine measurement controller that is applicable to full optical fiber digital inclinometer according to the inertia measurement pattern in the short time.
Summary of the invention
The present invention is a kind of strapdown inertial combine measurement controller that is applicable to full optical fiber digital inclinometer, this strapdown inertial combine measurement controller, zero-speed information when cable long letter breath when adopting fluxgate metrical information, wired well logging and down-well pipe finder stop compares with the attitude information and the velocity information of the down-well pipe finder of quick-connecting inertia measurement output respectively, obtains difference signal; Then described difference signal is carried out multiple metrical information data fusion as the observed quantity of KALMAN wave filter and obtain compensating signal, described compensating signal is used for the control information that quick-connecting inertia measurement produces is estimated and online correction, the error of restriction quick-connecting inertia measurement is dispersed, thereby has realized the high-acruracy survey that full optical fiber digital inclinometer works long hours.
The present invention is a kind of strapdown inertial combine measurement controller that is applicable to full optical fiber digital inclinometer, comprising:
Be used to store the computer of inertia measurement in a closed series task control program;
The optical fibre gyro that is used for input angular velocity information;
Be used to import accelerometer than force information;
Be used to import the fluxgate of earth magnetism component information;
Be used to import the down-well pipe finder of zero-speed update information;
Be used to import the counter of cable long letter breath, counter is installed on the optical cable capstan winch, and an end of optical cable is connected on the optical cable capstan winch, and the other end is fixed on the down-well pipe finder; Also comprise:
Quick-connecting inertia measurement, magnetic measurement, the measurement of the optical cable speed of service, Kalman filter and information relatively A unit, information compare relatively C unit of B unit, information,
Described quick-connecting inertia measurement at first receives A) the down-well pipe finder body axis system O of described optical fibre gyro output bX bY bZ bUnder angular velocity information; With
B) the down-well pipe finder body axis system O of described accelerometer output bX bY bZ bUnder the ratio force information; Right then
Described angular velocity information and described adopt reckoning to handle than force information after, output C) the velocity information V of down-well pipe finder x, V y, V zWith
D) the azimuth ψ of down-well pipe finder attitude information, roll angle φ, tiltangle; At last
With E) described velocity information V x, V y, V zExport to relatively C unit of described information comparison B unit and described information;
With F) described attitude information exports to relatively A unit of information;
Described fluxgate is measured and is at first received A) the down-well pipe finder body axis system O of fluxgate assembly output bX bY bZ bUnder the earth magnetism component information; With
B) the down-well pipe finder body axis system O of accelerometer output bX bY bZ bUnder the ratio force information; Right then
Described earth magnetism component information and described than the calculating of force information employing magnetic measurement, and the azimuth with respect to magnetic north that will calculate is converted to the azimuth ψ with respect to the geographical north cAfter, export the azimuth ψ of described down-well pipe finder attitude information c, roll angle φ c, tiltangle cAt last
With C) described attitude information exports to relatively A unit of information;
The measurement of the described optical cable speed of service be cable length cable length increment in the unit interval of adopting described counter measures to obtain when obtaining the down-well pipe finder operation at its body axis system O bX bY bZ bUnder velocity information;
Described Kalman filter receives
A) information compares the pose difference of A unit output Z KA = ψ - ψ c θ - θ c φ - φ c , With
B) information compares the speed difference of B unit output Z KB = V x - V xc V y - V yc V z - V zc With
C) information compares the speed difference of C unit output Z KC = V x - 0 V y - 0 V z - 0 ,
Utilize the butt joint of discrete type Kalman filter to collect mail and cease and carry out the data fusion realization state variable
X=[δ r x, δ r y, δ r z, δ v y, δ v z, η x, η y, η z, δ f x, δ f y, δ f z, δ ω x, δ ω y, δ ω z] carry out optimal estimation, according to the state variable of estimating described quick-connecting inertia measurement is carried out online error compensation, the down-well pipe finder attitude information after the output compensation ψ 0 θ 0 φ 0 = ψ - η x θ - η y φ - η z Give described computer display interface;
Described information is the A unit relatively, is used to finish the azimuth ψ of the down-well pipe finder attitude information of azimuth ψ, roll angle φ, tiltangle and the output of described magnetic measurement to the down-well pipe finder attitude information of described quick-connecting inertia measurement output c, roll angle φ c, tiltangle cSubtract each other the output pose difference Z KA = ψ - ψ c θ - θ c φ - φ c Give Kalman filter;
Described information is the B unit relatively, is used to finish the velocity information V to the down-well pipe finder of described quick-connecting inertia measurement output x, V y, V zMeasure the velocity information V of output with described optical cable movement velocity Xc, V Yc, V ZcSubtract each other the output speed difference Z KB = V x - V xc V y - V yc V z - V zc Give Kalman filter;
Described information is the C unit relatively, is used to finish the velocity information V to the down-well pipe finder of described quick-connecting inertia measurement output x, V y, V zSubtract each other the output speed difference with the zero velocity information of the static amount output of described down-well pipe finder Z KC = V x - 0 V y - 0 V z - 0 Give Kalman filter.
Described strapdown inertial combine measurement controller, it has the first long surveying work pattern of quick-connecting inertia measurement+cable or the second surveying work pattern or the 3rd surveying work pattern of quick-connecting inertia measurement+magnetic measurement or the 4th surveying work pattern of quick-connecting inertia measurement+cable length+zero-speed correction+magnetic measurement of quick-connecting inertia measurement+zero-speed correction.
The advantage of strapdown inertial combine measurement controller of the present invention is: the flexible switching of (1) multiple measurement pattern, and easy to operate; (2) using to inclinometer of multiple measurement pattern provides wide usage space; (3) use multisensor assembly the time, improved the dependability of inclinometer; (4) multisensor assembly is carried out the certainty of measurement that information fusion can effectively improve inclinometer, can in use wait and realize high-precision combination metering system under precision inertia measurement device (optical fibre gyro and the accelerometer) condition, reduce the processing cost of inclinometer.
Description of drawings
Fig. 1 is the structured flowchart of strapdown inertial combine measurement controller of the present invention.
Fig. 2 is the structured flowchart that information measurement switches to cable long letter breath and quick-connecting inertia measurement system.
Fig. 3 is the structured flowchart of information measurement zero-speed information and quick-connecting inertia measurement system when switching to down-well pipe finder and stopping.
Fig. 4 is the structured flowchart that information measurement switches to fluxgate and quick-connecting inertia measurement system.
Fig. 5 is the master control interface schematic diagram of strapdown inertial combine measurement controller.
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
The present invention is a kind of strapdown inertial combine measurement controller that is applicable to full optical fiber digital inclinometer, be to quick-connecting inertia measurement output attitude information, velocity information respectively with the velocity information of the magnetic attitude information of magnetic measurement output, the motion of optical cable capstan winch and down-well pipe finder the zero-speed information when static carry out information relatively after, and the difference that described information is relatively exported carried out being used to estimate the correlated error of strap down inertial navigation combination and revise and compensate after Kalman filtering handles.Quick-connecting inertia measurement after described correction and compensation carries out accurate well track drawing and demonstration with the attitude information of output to computer.
Full optical fiber digital inclinometer is made up of known computer, strapdown inertial combine measurement control program, signal picker, optical cable capstan, derrick and down-well pipe finder, the strapdown inertial combine measurement control program is stored in the memory of computer, signal picker is installed on the host slot of computer, signal picker and optical cable capstan adopt wired connection, optical cable one end on the optical cable capstan is connected with down-well pipe finder, and optical cable slides on derrick and realizes down-well pipe finder is put into well.
Referring to shown in Figure 1, strapdown inertial combine measurement controller of the present invention comprises quick-connecting inertia measurement, fluxgate measurement, the measurement of the optical cable speed of service, Kalman filtering processing, three information comparison modules (information compares A, information compares B and information compares C) and zero-speed correcting module (information when down-well pipe finder is static), will describe from the function that each several part can be realized below.
One, quick-connecting inertia measurement
Inertia measurement is divided into platform-type inertia measurement and Strapdown Inertial Units to be measured, and the Strapdown Inertial Units measurement is that gyro and accelerometer directly are connected in a kind of inertia measurement mode on the body.The Strapdown Inertial Units measurement is to replace the physical platform in the platform-type inertia measurement and a kind of measurement pattern of carrying out with mathematical platform.This Strapdown Inertial Units measurement has that frame for movement is simple, size is little, relative cost is lower, but because gyro and accelerometer directly are connected on the body, cause the input dynamic range of gyro and accelerometer bigger, then, select for use mathematical platform alternative physical platform that the computer of data processing usefulness is had relatively high expectations in addition to using suitable gyro and accelerometer to have higher requirement.
In the present invention, quick-connecting inertia measurement at first receives A) the down-well pipe finder body axis system O of optical fibre gyro output bX bY bZ bUnder angular velocity information; And B) the down-well pipe finder body axis system O of accelerometer output bX bY bZ bUnder the ratio force information; Then to described angular velocity information and described adopt reckoning to handle than force information after, output C) the velocity information V of down-well pipe finder x, V y, V zAnd D) the azimuth ψ of down-well pipe finder attitude information, roll angle φ, tiltangle; At last, with E) described velocity information V x, V y, V zThe information of exporting to compares the B unit and information compares the C unit; With F) described attitude information exports to relatively A unit of information.
The described state variable X of Kalman filter output is used for the error of the described quick-connecting inertia measurement of online compensation, and the expression down-well pipe finder attitude information after its compensation is output as azimuth ψ 0, roll angle φ 0, tiltangle 0And these attitude informations are exported to computer display interface (referring to shown in Figure 5) go up the demonstration (well track drafting) of drawing, the person monitors in real time with handled easily.
Vertical well depth computing unit is used to calculate the vertical well depth of well, and the well depth parameter is exported to the demonstration of computer display interface, and the person monitors in real time with handled easily.The well depth calculating of vertical well depth computing unit is the cable long letter breath and down-well pipe finder tiltangle by receiving 0Cosine multiply each other and obtain the vertical well depth of measured point.
Two, fluxgate is measured
The fluxgate phenomenon is a kind of ubiquitous electromagnetic induction phenomenon, it be utilize high permeability material in the cell winding system magnetic saturation characteristic and measure the instrument in magnetic field, be one of most widely used weak magnetic survey instrument, its measurement category is 10 -12～10 -3T, this apparatus structure is simple, volume is little, in light weight, low in energy consumption, shock resistance is good, measurement category is wide, highly sensitive, resolution ratio is high, good stability, the magnetic field that is suitable for measuring the stationary magnetic field or slowly changes.
In the present invention, the fluxgate assembly comprises the fluxgate that three quadratures are settled, i.e. X-axis fluxgate, Y-axis fluxgate and Z axis fluxgate.
In the present invention, fluxgate is measured and at first to be received A) the down-well pipe finder body axis system O of fluxgate assembly output bX bY bZ bUnder the earth magnetism component information; And B) the down-well pipe finder body axis system O of accelerometer output bX bY bZ bUnder the ratio force information; Then to described earth magnetism component information with describedly adopt magnetic measurement to calculate than force information, and the azimuth with respect to magnetic north that will calculate is converted to the azimuth ψ with respect to the geographical north cAfter, the azimuth ψ of output down-well pipe finder attitude information c, roll angle φ c, tiltangle cAt last with C) described attitude information exports to relatively A unit of information.
Three, the optical cable speed of service
One end of optical cable is connected on the optical cable capstan winch, and the other end is fixed on the down-well pipe finder.In the present invention, the speed that down-well pipe finder is moved in well can obtain down-well pipe finder when operation by cable length cable length increment in the unit interval that counter measures obtains at its body axis system O bX bY bZ bUnder velocity information.
Full optical fiber digital inclinometer relates to two coordinate systems in measuring process, one is local geographic coordinate system O tX tY tZ t, one is down-well pipe finder body axis system O bX bY bZ bThe coordinate transformation relation that these two coordinate systems exist is x b y b z b = C t b x t y t z t , C t bShow coordinate conversion matrix.By this coordinate conversion matrix C t bCan be with down-well pipe finder body axis system O bX bY bZ bUnder optical cable speed of service information translation be local geographic coordinate system O tX tY tZ tUnder velocity information V Xc, V Yc, V Zc, described velocity information V Xc, V Yc, V ZcExport to information comparison B unit and carry out the speed difference relatively.
Down-well pipe finder body axis system O bX bY bZ bWith local geographic coordinate system O tX tY tZ tBetween transition matrix be C t b = cos ψ cos φ + sin ψ sin θ sin φ - sin ψ cos φ + cos ψ sin θ sin φ - cos θ sin θ sin ψ cos θ cos ψ cos θ sin θ cos ψ sin θ - sin ψ sin θ cos φ - sin ψ sin φ - cos ψ sin θ cos φ cos θ cos φ , Angle in this matrix has azimuth ψ, roll angle φ, the tiltangle of down-well pipe finder attitude information respectively.
Four, Kalman filter
Kalman filter receives
A) information compares the pose difference of A unit output Z KA = ψ - ψ c θ - θ c φ - φ c , With
B) information compares the speed difference of B unit output Z KB = V x - V xc V y - V yc V z - V zc With
C) information compares the speed difference of C unit output Z KC = V x - 0 V y - 0 V z - 0 , Utilize the discrete type Kalman filter to receiving
Information is carried out data fusion and is realized state variable X=[δ r x, δ r y, δ r z, δ v x, δ v y, δ v z, η x, η y, η z, δ f x, δ f y, δ f z, δ ω x, δ ω y, δ ω z] carry out optimal estimation, according to the state variable of estimating described quick-connecting inertia measurement is carried out online error compensation, the down-well pipe finder attitude information after the output compensation ψ 0 θ 0 φ 0 = ψ - η x θ - η y φ - η z Give described computer display interface.State variable X=[δ r x, δ r y, δ r z, δ v x, δ v y, δ v z, η x, η y, η z, δ f x, δ f y, δ f z, δ ω x, δ ω y, δ ω z], in the formula, δ r xRepresent local geographic coordinate system O tX tY tZ tUnder site error X-axis component, δ r yRepresent local geographic coordinate system O tX tY tZ tUnder site error Y-axis component, δ r zRepresent local geographic coordinate system O tX tY tZ tUnder site error Z axle component, δ v xRepresent local geographic coordinate system O tX tY tZ tUnder velocity error X-axis component, δ v yRepresent local geographic coordinate system O tX tY tZ tUnder velocity error Y-axis component, δ v zRepresent local geographic coordinate system O tX tY tZ tUnder velocity error Z axle component, η xExpression azimuth ψ error, η yExpression tiltangle error, η zExpression roll angle φ error, δ f xExpression X-axis accelerometer error, δ f yExpression Y-axis accelerometer error, δ f zExpression Z axis accelerometer error, δ ω xExpression X-axis optical fibre gyro error, δ ω yExpression Y-axis optical fibre gyro error, δ ω zExpression Z axle optical fibre gyro error.
The filtering of the Kalman filter among the present invention is handled and is adopted discrete type Kalman filtering fundamental equation, and its each state variable initial value all is made as zero.
Five, information relatively
In the present invention, the information comparison relatively is made up of in A unit, information comparison B unit and information comparison C unit information, wherein,
Information is the A unit relatively, is used to finish the azimuth ψ of the down-well pipe finder attitude information of azimuth ψ, roll angle φ, tiltangle and the output of described magnetic measurement to the down-well pipe finder attitude information of described quick-connecting inertia measurement output c, roll angle φ c, tiltangle cSubtract each other the output pose difference Z KA = ψ - ψ c θ - θ c φ - φ c Give Kalman filter;
Information is the B unit relatively, is used to finish the velocity information V to the down-well pipe finder of described quick-connecting inertia measurement output x, V y, V zMeasure the velocity information V of output with described optical cable movement velocity Xc, V Yc, V ZcSubtract each other the output speed difference Z KB = V x - V xc V y - V yc V z - V zc Give Kalman filter;
Information is the C unit relatively, is used to finish the velocity information V to the down-well pipe finder of described quick-connecting inertia measurement output x, V y, V zSubtract each other the output speed difference with the zero velocity information of the static amount output of described down-well pipe finder Z KC = V x - 0 V y - 0 V z - 0 Give Kalman filter.
Six, zero-speed correction
The zero-speed correction is meant when down-well pipe finder is in resting position in the full optical fiber digital inclinometer that its speed is the velocity error that zero phenomenon is revised quick-connecting inertia measurement output.Should " zero-speed correction " realize, referring to shown in Figure 5 by a button that is provided with.When adopting described zero-speed modification model, the speed of service of down-well pipe finder reality is zero as exporting to the relatively comparison information of C unit of information.
Strapdown inertial combine measurement controller of the present invention can provide four kinds of measurement in a closed series mode of operations, and each pattern realizes by press corresponding key in the interface of Fig. 5.Wherein,
Pattern one: quick-connecting inertia measurement+cable long (1. button is set in the measurement pattern)
This measurement in a closed series pattern is used for the quick continuous measurement of conventional wired well logging, is particularly useful for cased well or the well track measurement of the material interference that is magnetic.Its structure is referring to shown in Figure 2
The required information flow of measurement in a closed series is: first via information, quick-connecting inertia measurement at first receive A) the down-well pipe finder body axis system O of optical fibre gyro output bX bY bZ bUnder angular velocity information; And B) the down-well pipe finder body axis system O of accelerometer output bX bY bZ bUnder the ratio force information; Then to described angular velocity information and described adopt reckoning to handle than force information after, output C) the velocity information V of down-well pipe finder x, V y, V zAt last with described velocity information V x, V y, V zExport to relatively B unit of information.The second tunnel information, by the counter record long to the optical cable cable, the speed of service information V of the expression down-hole inserting tube that obtains through Coordinate Conversion again Xc, V Yc, V ZcExport to relatively B unit of information.The first via information and the second tunnel information are carried out the speed difference and are exported to Kalman filter after relatively and handle in information comparison B unit.Third Road information through the error that the described state variable X of Kalman filtering output is used for the described quick-connecting inertia measurement of online compensation, represents after its compensation that down-well pipe finder attitude information is output as azimuth ψ 0, roll angle φ 0, tiltangle 0Described attitude information is exported to the drawing of computer display interface and is shown that the person monitors in real time with handled easily.The four tunnel information, described attitude information are exported to vertical well depth computing unit and are carried out vertical well depth calculating, and output well depth parameter shows that the person monitors in real time with handled easily for the computer display interface.
Pattern two: quick-connecting inertia measurement+zero-speed correction (2. button is set in the measurement pattern)
This measurement in a closed series pattern is used for not requiring the well logging process of continuous measurement, can be used in well logging during (MWD) process, monitors the drilling direction of drill bit in real time.Its structure is referring to shown in Figure 3
The required information flow of measurement in a closed series is: first via information, quick-connecting inertia measurement at first receive A) the down-well pipe finder body axis system O of optical fibre gyro output bX bY bZ bUnder angular velocity information; And B) the down-well pipe finder body axis system O of accelerometer output bX bY bZ bUnder the ratio force information; Then to described angular velocity information and described adopt reckoning to handle than force information after, output C) the velocity information V of down-well pipe finder x, V y, V zAt last with described velocity information V x, V y, V zExport to relatively C unit of information.The second tunnel information, the speed of service of down-well pipe finder reality are that the relatively comparison information of C unit of information is exported in zero conduct.The first via information and the second tunnel information are carried out the speed difference and are exported to Kalman filter after relatively and handle in information comparison C unit.Third Road information through the error that the described state variable X of Kalman filtering output is used for the described quick-connecting inertia measurement of online compensation, represents after its compensation that down-well pipe finder attitude information is output as azimuth ψ 0, roll angle φ 0, tiltangle 0Described attitude information is exported to the drawing of computer display interface and is shown that the person monitors in real time with handled easily.The four tunnel information, described attitude information are exported to vertical well depth computing unit and are carried out vertical well depth calculating, and output well depth parameter shows that the person monitors in real time with handled easily for the computer display interface.
Pattern three: quick-connecting inertia measurement+magnetic measurement (3. button is set in the measurement pattern)
This measurement in a closed series pattern is used to not have the logging operation that magnetic environment disturbs, and realizes the high accuracy continuous measurement.Its structure is referring to shown in Figure 4
The required information flow of measurement in a closed series is: first via information, quick-connecting inertia measurement at first receive A) the down-well pipe finder body axis system O of optical fibre gyro output bX bY bZ bUnder angular velocity information; And B) the down-well pipe finder body axis system O of accelerometer output bX bY bZ bUnder the ratio force information; Then to described angular velocity information and described adopt reckoning to handle than force information after, output C) azimuth ψ, roll angle φ, the tiltangle of expression down-well pipe finder attitude information; At last described attitude information is exported to relatively A unit of information.The second tunnel information, fluxgate are measured and at first to be received A) the down-well pipe finder body axis system O of fluxgate assembly output bX bY bZ bUnder the earth magnetism component information; And B) the down-well pipe finder body axis system O of accelerometer output bX bY bZ bUnder the ratio force information; Then to described earth magnetism component information with describedly adopt magnetic measurement to calculate than force information, and the azimuth with respect to magnetic north that will calculate is converted to the azimuth ψ with respect to the geographical north cAfter, the azimuth ψ of output expression down-well pipe finder attitude information c, roll angle φ c, tiltangle cAt last described attitude information is exported to relatively A unit of information.The first via information and the second tunnel information are carried out pose difference and are exported to Kalman filter after relatively and handle in information comparison A unit.Third Road information through the error that the described state variable X of Kalman filtering output is used for the described quick-connecting inertia measurement of online compensation, represents after its compensation that down-well pipe finder attitude information is output as azimuth ψ 0, roll angle φ 0, tiltangle 0Described attitude information is exported to the drawing of computer display interface and is shown that the person monitors in real time with handled easily.The four tunnel information, described attitude information are exported to vertical well depth computing unit and are carried out vertical well depth calculating, and output well depth parameter shows that the person monitors in real time with handled easily for the computer display interface.
Pattern four: quick-connecting inertia measurement+cable length+zero-speed correction+magnetic measurement (4. button is set in the measurement pattern)
This measurement in a closed series pattern is used to have the long all kinds of well logging environment of assisting and not having the continuous measurement requirement of cable, by the application of several data integration technology, can provide the error of accurate estimation and compensation strap down inertial navigation, and high-precision measurement result can be provided.Its structure is referring to shown in Figure 1, and information flow existing relevant introduction in detail in manual that measurement in a closed series is required has no longer illustrated herein.
In the present invention, described Kalman filter is carried out the real-time online estimation to state variable.In four kinds of different measurement of correlation patterns, the described state variable X that handles output through Kalman filter is identical, but the observed quantity of using is different.
Be elected to the delivery formula for the moment, its corresponding battle array that measures H 1 = 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 , Then compensation back expression down-well pipe finder attitude information is output as ψ 0 θ 0 φ 0 = ψ - η x θ - η y φ - η z .
When being elected to delivery formula two, its corresponding battle array that measures H 2,3 = 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 , Then compensation back expression down-well pipe finder attitude information is output as ψ 0 θ 0 φ 0 = ψ - η x θ - η y φ - η z . Among the present invention, pattern three is identical with the measurement battle array of pattern two, and then output is also identical, and promptly pattern three all is as observed quantity with the speed difference with pattern two.
When being elected to delivery formula four, its corresponding battle array that measures H 4 = 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 , Then compensation back expression down-well pipe finder attitude information is output as ψ 0 θ 0 φ 0 = ψ - η x θ - η y φ - η z .
Optic fiber gyroscope component comprises X-axis optical fibre gyro, Y-axis optical fibre gyro and Z axle optical fibre gyro, three optical fibre gyro output angle velocity informations; Accelerometer module comprises X-axis accelerometer, Y-axis accelerometer and Z axis accelerometer, and force information is compared in three accelerometer outputs; The fluxgate assembly comprises X-axis fluxgate, Y-axis fluxgate and Z axis fluxgate, three fluxgate output earth magnetism component information.
The strapdown inertial combine measurement method that the present invention proposes is according to different actual application environment and the field condition of being logged well, selected sensor cluster is satisfied the selection that certainty of measurement requires, to determine the measurement pattern of full optical fiber digital inclinometer, under the measurement pattern of choosing, different measured values is carried out data fusion and systematic error optimal estimation, thereby realize quick-connecting inertia measurement is carried out online compensation, improve the certainty of measurement of full optical fiber digital inclinometer, for full optical fiber digital inclinometer provides more wide usage space.

Claims (6)

1, a kind of strapdown inertial combine measurement controller that is applicable to full optical fiber digital inclinometer comprises:
Be used to store the computer of inertia measurement in a closed series task control program;
The optical fibre gyro that is used for input angular velocity information;
Be used to import accelerometer than force information;
Be used to import the fluxgate of earth magnetism component information;
Be used to import the down-well pipe finder of zero-speed update information;
Be used to import the counter of cable long letter breath, counter is installed on the optical cable capstan winch, and an end of optical cable is connected on the optical cable capstan winch, and the other end is fixed on the down-well pipe finder; It is characterized in that also comprising:
Quick-connecting inertia measurement, magnetic measurement, the measurement of the optical cable speed of service, Kalman filter and information relatively A unit, information compare relatively C unit of B unit, information,
Described quick-connecting inertia measurement at first receives A) the down-well pipe finder body axis system O of described optical fibre gyro output bX bY bZ bUnder angular velocity information; With
B) the down-well pipe finder body axis system O of described accelerometer output bX bY bZ bUnder the ratio force information; Right then
Described angular velocity information and described adopt reckoning to handle than force information after, output C) the velocity information V of down-well pipe finder x, V y, V zWith
D) the azimuth ψ of down-well pipe finder attitude information, roll angle φ, tiltangle; At last
With E) described velocity information V x, V y, V zExport to relatively C unit of described information comparison B unit and described information;
With F) described attitude information exports to relatively A unit of information;
Described fluxgate is measured and is at first received A) the down-well pipe finder body axis system O of fluxgate assembly output bX bY bZ bUnder the earth magnetism component information; With
B) the down-well pipe finder body axis system O of accelerometer output bX bY bZ bUnder the ratio force information; Right then
Described earth magnetism component information and described than the calculating of force information employing magnetic measurement, and the azimuth with respect to magnetic north that will calculate is converted to the azimuth ψ with respect to the geographical north cAfter, export the azimuth ψ of described down-well pipe finder attitude information c, roll angle φ c, tiltangle cAt last
With C) described attitude information exports to relatively A unit of information;
The measurement of the described optical cable speed of service be cable length cable length increment in the unit interval of adopting described counter measures to obtain when obtaining the down-well pipe finder operation at its body axis system O bX bY bZ bUnder velocity information;
Described Kalman filter receives
A) information compares the pose difference of A unit output Z KA = ψ - ψ c θ - θ c φ - φ c , With
B) information compares the speed difference of B unit output Z KB = V x - V xc V y - V yc V z - V zc With
C) information compares the speed difference of C unit output Z KC = V x - 0 v y - 0 V z - 0 ,
Utilize the butt joint of discrete type Kalman filter to collect mail and cease and carry out the data fusion realization state variable
X=[δ r x, δ r y, δ r z, δ r x, δ r y, δ r z, η x, η y, η z, δ f x, δ f y, δ f z, δ ω x, δ ω y, δ ω z] carry out optimal estimation, according to the state variable of estimating described quick-connecting inertia measurement is carried out online error compensation, the down-well pipe finder attitude information after the output compensation ψ 0 θ 0 φ 0 = ψ - η x θ - η y φ - η z Give described computer display interface; In the formula,
δ r xRepresent local geographic coordinate system O tX tY tZ tUnder site error X-axis component,
δ r yRepresent local geographic coordinate system O tX tY tZ tUnder site error Y-axis component,
δ r zRepresent local geographic coordinate system O tX tY tZ tUnder site error Z axle component,
δ v xRepresent local geographic coordinate system O tX tY tZ tUnder velocity error X-axis component,
δ v yRepresent local geographic coordinate system O tX tY tZ tUnder velocity error Y-axis component,
δ v zRepresent local geographic coordinate system O tX tY tZ tUnder velocity error Z axle component,
η xExpression azimuth ψ error,
η yExpression tiltangle error,
η zExpression roll angle φ error,
η zδ f xExpression X-axis accelerometer error,
δ f yExpression Y-axis accelerometer error,
δ f zExpression Z axis accelerometer error,
δ ω xExpression X-axis optical fibre gyro error,
δ ω yExpression Y-axis optical fibre gyro error,
δ ω zExpression Z axle optical fibre gyro error;
Described information is the A unit relatively, is used to finish the azimuth ψ of the down-well pipe finder attitude information of azimuth ψ, roll angle φ, tiltangle and the output of described magnetic measurement to the down-well pipe finder attitude information of described quick-connecting inertia measurement output c, roll angle φ c, tiltangle cSubtract each other the output pose difference Z KA = ψ - ψ c θ - θ c φ - φ c Give Kalman filter;
Described information is the B unit relatively, is used to finish the velocity information V to the down-well pipe finder of described quick-connecting inertia measurement output x, V y, V zMeasure the velocity information V of output with described optical cable movement velocity Xc, V Yc, V ZcSubtract each other the output speed difference Z KB = V x - V xc V y - V yc V z - V zc Give Kalman filter;
Described information is the C unit relatively, is used to finish the velocity information V to the down-well pipe finder of described quick-connecting inertia measurement output x, V y, V zSubtract each other the output speed difference with the zero velocity information of the static amount output of described down-well pipe finder Z KC = V x - 0 V y - 0 V z - 0 Give Kalman filter.
2, strapdown inertial combine measurement controller according to claim 1 is characterized in that: have the first long surveying work pattern of quick-connecting inertia measurement+cable or the second surveying work pattern or the 3rd surveying work pattern of quick-connecting inertia measurement+magnetic measurement or the 4th surveying work pattern of quick-connecting inertia measurement+cable length+zero-speed correction+magnetic measurement of quick-connecting inertia measurement+zero-speed correction.
3, strapdown inertial combine measurement controller according to claim 1 is characterized in that: the initial value among the described state variable X is made as zero.
4, strapdown inertial combine measurement controller according to claim 1 is characterized in that: according to surveying work pattern difference, the observed quantity difference of its described Kalman filter has thereby measure battle array
H 1 = 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 , Perhaps be
H 2,3 = 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 , Perhaps be
H 4 = 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 .
5, strapdown inertial combine measurement controller according to claim 1 is characterized in that: the zero-speed update information of described down-well pipe finder input is to be realized by the button that described inertia measurement in a closed series task control program is arranged in the master control interface on the computer display.
6, strapdown inertial combine measurement controller according to claim 1 is characterized in that: described Kalman filter is carried out real-time online to state variable and is estimated.
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