RU2610957C1 - Method of determination of set of angular parameters of spatial orientation of drilling tools - Google Patents

Method of determination of set of angular parameters of spatial orientation of drilling tools Download PDF

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RU2610957C1
RU2610957C1 RU2015152915A RU2015152915A RU2610957C1 RU 2610957 C1 RU2610957 C1 RU 2610957C1 RU 2015152915 A RU2015152915 A RU 2015152915A RU 2015152915 A RU2015152915 A RU 2015152915A RU 2610957 C1 RU2610957 C1 RU 2610957C1
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axis
accelerometer
magnetometer
axes
σ2
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RU2015152915A
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Russian (ru)
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Дмитрий Георгиевич Миловзоров
Васих Хаматович Ясовеев
Елена Сергеевна Морозова
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Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Уфимский государственный авиационный технический университет"
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    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21BEARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00Survey of boreholes or wells
    • E21B47/02Determining slope or direction
    • E21B47/022Determining slope or direction of the borehole, e.g. using geomagnetism

Abstract

FIELD: mining.
SUBSTANCE: in housing of the well device a three-axes unit accelerometer/magnetometer is installed, using it the projections gx, gy, gz of known vector
Figure 00000025
of gravity force acceleration is installed, the projections mx, my, mz of full vector
Figure 00000026
of geomagnetical field intensity are measured, they are used to determine azimuth α, zenithal θ and viewing ϕ angles. Wherein a priori determined numerical values of small angular parameters of deviation of sensor sensitivity axes are used: χA, δXA, δYA, σ1A, σ2A for three-axes accelerometer and χF, γF, δXF, δYF, σ1F, σ2F for three-axes magnetometer.
EFFECT: reduced error of measurements of directional systems due to consideration of small angular parameters of deviation of the sensitivity axes of three-component ferroprobe and accelerometer sensors of the directional systems from the orthogonal axes during the measurement results processing.
2 dwg, 2 tbl

Description

The invention relates to the field of drilling directional and horizontal wells, in particular, to determining the angular parameters of the spatial orientation of the drilling tool (azimuth, zenith angle and installation angle of the deflector in the apsidal plane).

A known method of measuring zenith and azimuth angles (RF patent 2231638, ЕВВ 47/02, publ. June 27, 2004). The device contains a three-component flux-gate and three-component accelerometric converters. According to the readings of the flux gates, the components of the full vector of the Earth's geomagnetic field are determined, and according to the readings of the accelerometers, the components of the full gravity vector are determined. According to the obtained data, the current values of the azimuthal and zenith angles are calculated. Next, a comparison is made of the current measurement with the average value of four measurements that are four records behind the current measurement, relative to the tolerance. If the current measurement is outside the tolerance, then it is replaced by the average. After that, a certain number of previous measurements are averaged and the value of the current measurement is replaced by an averaged one. Then filtering by means of a notch filter.

There is also a method of determining the angle of curvature of a well (RF patent 2503810, ЕВВ 47/022, published January 10, 2014), which makes it possible to carry out measurements in cased and uncased wells, increasing the accuracy of the device that implements it through the combined use of flux probes and gyroscopes, as well as compensation drift last. A method for determining well curvature angles is proposed, including measuring projections of magnetic field strength by flux gates, measuring projections of gravity acceleration by accelerometers, measuring projections of the angular velocity of the Earth by gyroscopes on the inclinometer axis, converting primary signals and determining the spatial orientation of the wellbore.

The disadvantage of these methods is the lack of consideration of the influence of small angular parameters of the deviation of the sensitivity axes of the three-component flux-gate and three-component accelerometric converters of inclinometric systems from orthogonal axes.

The closest in technical essence and the achieved result is a method for determining the direction of the well (options) (RF patent No. 2109943, ЕВВ 47/022, 04/27/1998) during its drilling using a three-axis accelerometer / magnetometer block located in the used drill string, in which measure the components g x , g y , g z of acceleration of a known local vector

Figure 00000001
gravity, which determine the zenith θ and sighting ϕ angles, measure the components m x , m y , m z of the full vector
Figure 00000002
geomagnetic field strengths, which determine the azimuth α for known m x , m y , m z , θ and ϕ.

The disadvantage of the prototype is the low accuracy of determining the desired angles θ and ϕ from the measured signals g x , g y , g z from the three-component accelerometer and α from the measured signals m x , m y , m z from the three-component magnetometer, due to the fact that when processing the measurement results they do not take into account the small angular parameters of the deviation of the sensitivity axes of the sensors in the three-axis unit of the accelerometer / magnetometer from the axes of the orthonormal bases of the downhole tool body.

The task to which the invention is directed is to increase the accuracy of determining the complex of the desired angular parameters of the spatial orientation of the drilling tool - α, θ and ϕ.

The technical result is a reduction in the measurement error of inclinometric systems by taking into account the small angular parameters of the deviation of the sensitivity axes of the three-component fluxgate and accelerometer sensors of the inclinometric systems from orthogonal axes when processing the measurement results.

The technical result is achieved by the fact that in the method for determining the direction of the well during its drilling using the three-axis accelerometer / magnetometer block, which includes installing the three-axis block of the accelerometer / magnetometer in the body of the downhole tool, with the help of which the known components g x , g y , g z are measured of vector

Figure 00000003
acceleration of gravity, measure the components m x , m y , m z of the full vector
Figure 00000004
geomagnetic field strengths, which determine the azimuth α, zenith θ and sighting ϕ angles, while using a priori determined numerical values of small angular parameters χ A , δX A , δY A , σ1 A , σ2 A for a three-axis accelerometer and χ F , γ F , δX F , δY F , σ1 F , σ2 F for a three-axis magnetometer, which characterize the deviation of the sensitivity axes of the sensors of the accelerometer / magnetometer block from the axes of the orthonormal bases of the downhole tool body, the zenith θ and the target ϕ angles are determined from the measured signals g i (i = x , y, z) with the small angles Parameter χ A, δH And, δY A, σ1 A, σ2 A, and the azimuth α is determined from the measured signals m i = (i = x, y, z) computed θ and φ with the small angular parameter χ F, γ F, δY F δ1 F , σ1 F , σ2 F , in addition, according to the invention, the zenith θ and the target angles ϕ are determined by the formulas:

Figure 00000005

Where

Figure 00000006

ag x , g y , g z - the measured signals from the sensors of the three-axis accelerometer, and then determine the azimuth α by the formula:

Figure 00000007

Where

Figure 00000008

am x , m y , m z are the values of the measured signals from the sensors of the three-axis magnetometer.

The invention is illustrated by drawings. In FIG. 1 is a schematic diagram of a three-axis unit of an accelerometer / magnetometer, and FIG. 2 is a functional diagram of a device that implements the proposed method.

In the initial position of the downhole tool body (α = θ = ϕ = 0), the orthonormal bases 0X A Y A Z A and 0X F Y F Z F (Fig. 1) are right coordinate systems rigidly connected to the body, with the axes 0Z A and 0Z F coincide with the direction of the gravity acceleration vector, and the axis 0X A is parallel to the axis 0X F , which is oriented in the horizontal plane and is directed to the north of the magnetic meridian.

The proposed method, implemented in the device (Fig. 2), contains ground equipment, including a personal computer 1, a ground interface unit 2 and a driller console 3, as well as a downhole tool 4, including a downhole power supply 5, downhole data transmission unit 6, downhole block control 7, a three-axis unit of the accelerometer / magnetometer 8, a multi-channel analog-to-digital converter 9, wherein the downhole data transmission unit 6 and the downhole power supply 5 are connected to the ground interface unit via a communication line 10.

The operation of the device is as follows. The ground-based interface unit 2, powered from an industrial AC voltage network, generates a constant voltage U n , which is transmitted through the communication line 10 (for example, a single-core wireline cable) to the input of the downhole power supply 5, in which the necessary energy consumption parameters U ni for all nodes are processed and downhole tool blocks. At a certain fixed in space position of the downhole tool, i.e. for specific values of α, θ and ϕ, the analog signals g i (i = x, y, z) from the accelerometers A X , A Y A Z , as well as the analog signals m i (i = x, y, z) from the flux gates F X , F Y and F Z included in the three-axis unit of the accelerometer / magnetometer 8 are fed to the inputs of a multi-channel analog-to-digital converter 9, in which they are converted into digital codes Q i proportional to the analog signals g i and m i . Further, these codes Q i in the downhole data transmission unit 6 are converted into successive error-correcting codes Q j and through the communication line 10 are fed to the input of the ground interface unit 2, which converts them into a form convenient for transmission to a computer, where the received information is processed in accordance with the given algorithm. As a result of processing the measured signals g i and m i, we obtain the desired angles α, θ, and ϕ recorded in the computer 1, which also through the ground interface unit 2 enter the console of the driller 3, which visually displays the current values of the complex of angular parameters α, θ and ϕ spatial orientation of the drilling tool, rigidly connected with the body of the downhole tool. The cyclic interrogation of the signals g i and m i , their analog-to-digital conversion and conversion to a serial noise-resistant code is controlled by the downhole control unit 7.

The method for determining the complex of angular parameters (α, θ and ϕ) of the spatial orientation of the drilling tool is as follows. The numerical values of small angular parameters are determined a priori (Fig. 1) χ A , δX A , δY A , σ1 A , σ2 A for a three-axis accelerometer and χ F , γ f , δX F , δY F , σ1F, σ2 F for a three-axis magnetometer, which are caused by the size variation and tolerance fields in the manufacture of parts and the assembly of the three-axis unit of the accelerometer / magnetometer, where:

- δH A - sensitivity axis deviation angle by accelerometer A X 0X axis A in a plane 0X A Z A;

- δY A is the angle of deviation of the sensitivity axis of the accelerometer A Y from the axis 0Y A in the plane 0Y A Z A ;

- χ A and - the sensitivity of the accelerometer axis deviation angle from A X 0X axis A in a plane 0X A Y A;

- σ1 A is the deviation angle of the sensitivity axis of the accelerometer A Z from the axis 0Z A in the plane 0X A Z A ;

- σ2 A is the angle of deviation of the sensitivity axis of the accelerometer A Z from the axis 0Z A in the plane 0Y A Z A ;

- δX F is the angle of deviation of the axis of sensitivity of the flux gate F X from the axis 0X F in the plane 0X F Z F ;

- χ F and - the angle of deviation of the axis of sensitivity of the flux gate F X from the axis 0X F in the plane 0X F Y F ;

- δY F is the angle of deviation of the axis of sensitivity of the flux gate F Y from the axis 0Y F in the plane OY F Z F ,

- γ F is the angle of deviation of the axis of sensitivity of the flux gate F Y from the axis 0Y F in the plane 0X F Y F ,

- σ1 F is the angle of deviation of the axis of sensitivity of the flux gate F Z from the axis 0Z F in the plane 0Y F Z F ,

- σ2 F is the angle of deviation of the axis of sensitivity of the flux gate F Z from the axis 0Z F in the plane 0X F Z F.

Next, they measure signals g i and m i characterizing the specific spatial position of the drilling tool, and transmit noise-resistant codes Q j proportional to signals g i and signals m i to the ground interface unit, and the desired angular parameters (α, θ and ϕ) are determined as follows way:

Figure 00000009

Where

Figure 00000010

Figure 00000011

Where

Figure 00000012

and m x , m y , m z are the values of the measured signals from the sensors of the three-axis magnetometer.

An example of a specific implementation of the method.

The required spatial orientation angles α, θ, and ϕ are determined on a calibration apparatus, for example, UAK-SI-AZV, setting various positions of the downhole tool body of the inclinometric system, and measuring and entering information signals from three-component accelerometric transducers and three-component flux-probe into the data array converters inclinometric system. Using the values of the signals stored in the data array, the spatial orientation angles α, θ and ϕ are calculated taking into account the a priori known small angular parameters χ A , δX A , δY A , σ1 A , σ2 A of the three-component accelerometer and χ F , γ F , δX F , δY F , σ1 F , σ2 F of the three-component flux-gate transducer, are presented in table 1.

To verify the proposed method using the IS-48 inclinometric system, the UAK-SI-AZV calibration unit determined certain spatial positions of the downhole tool body α s , θ s and ϕ s and measured signals from a three-component accelerometer transducer and a three-component flux-probe transducer and calculated spatial angles orientation α p , θ P and ϕ p presented in table 2.

Figure 00000013

Figure 00000014

So, the claimed invention improves the accuracy of determining the desired angular parameters of the spatial orientation of the drilling tool - azimuth, zenith angle and angle of the deflector, by taking into account the small angular parameters χ A , δX A , δY A , σ1 A , σ2 A for a three-axis accelerometer and χ F , γ F , δX F , δY F , σ1 F , σ2 F for a three-axis magnetometer when processing inclinometric data.

Claims (9)

  1. A method for determining the direction of a well during its drilling using a three-axis accelerometer / magnetometer block, which includes installing an accelerometer / magnetometer in a three-axis block of a downhole tool housing, using which a known vector g x , g y , g z is measured
    Figure 00000015
    acceleration of gravity, measure the components m x , m y , m z of the full vector
    Figure 00000016
    geomagnetic field strengths, which determine the azimuth α, zenith θ and sighting ϕ angles, characterized in that they use a priori determined numerical values of small angular parameters χ A , δX A , δY A , σ1 A , σ2 A for a three-axis accelerometer and χ F , γ F , δX F , δY F , σ1 F , σ2 F for a three-axis magnetometer, which characterize the deviation of the sensitivity axes of the sensors of the accelerometer / magnetometer unit from the axes of the orthonormal bases of the downhole tool housing, is determined by the measured signals g i (i = x, y, z ) zenith θ and φ angles with the sighting keeping m small angular parameter χ A, δH A, δY A, σ1 A, σ2 And, as the azimuth α is determined from the measured signals m i (i = x, y , z), computed θ and φ with the small angular parameter χ F, γ F , δX F , δY F , σ1 F , σ2 F while the zenith θ and the target ϕ angles are determined by the formulas:
  2. Figure 00000017
  3. Where
  4. Figure 00000018
  5. ag x , g y , g z - the measured signals from the sensors of the three-axis accelerometer, the azimuth α is determined by the formula:
  6. Figure 00000019
  7. Where
  8. Figure 00000020
  9. am x , m y , m z are the values of the measured signals from the sensors of the three-axis magnetometer.
RU2015152915A 2015-12-09 2015-12-09 Method of determination of set of angular parameters of spatial orientation of drilling tools RU2610957C1 (en)

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2492882A1 (en) * 1980-10-23 1982-04-30 Sundstrand Data Control Method and device for studying the topography of a survey
US4813274A (en) * 1987-05-27 1989-03-21 Teleco Oilfield Services Inc. Method for measurement of azimuth of a borehole while drilling
RU2109943C1 (en) * 1993-01-13 1998-04-27 Шелл Интернэшнл Рисерч Маатсхаппий Б.В. Method determining direction of hole ( versions )
RU2184845C1 (en) * 2001-04-06 2002-07-10 Уфимский государственный нефтяной технический университет Device for determination of borehole inclination angle and position of deflecting tool during drilling
RU2186966C2 (en) * 2000-08-28 2002-08-10 Общество с ограниченной ответственностью предприятие "АРКОН" Method of determination and compensation of inclinometer magnetic deviation
RU2231638C1 (en) * 2002-11-04 2004-06-27 Общество с ограниченной ответственностью предприятие "АРКОН" Method to measure zenith and azimuthalangles
RU2503810C1 (en) * 2012-07-03 2014-01-10 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Уфимский государственный авиационный технический университет" Method for determining well deviation angles

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2492882A1 (en) * 1980-10-23 1982-04-30 Sundstrand Data Control Method and device for studying the topography of a survey
US4813274A (en) * 1987-05-27 1989-03-21 Teleco Oilfield Services Inc. Method for measurement of azimuth of a borehole while drilling
RU2109943C1 (en) * 1993-01-13 1998-04-27 Шелл Интернэшнл Рисерч Маатсхаппий Б.В. Method determining direction of hole ( versions )
RU2186966C2 (en) * 2000-08-28 2002-08-10 Общество с ограниченной ответственностью предприятие "АРКОН" Method of determination and compensation of inclinometer magnetic deviation
RU2184845C1 (en) * 2001-04-06 2002-07-10 Уфимский государственный нефтяной технический университет Device for determination of borehole inclination angle and position of deflecting tool during drilling
RU2231638C1 (en) * 2002-11-04 2004-06-27 Общество с ограниченной ответственностью предприятие "АРКОН" Method to measure zenith and azimuthalangles
RU2503810C1 (en) * 2012-07-03 2014-01-10 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Уфимский государственный авиационный технический университет" Method for determining well deviation angles

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