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 PDFInfo
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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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 accelerometer
 magnetometer
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 238000005553 drilling Methods 0 title 1
 230000035945 sensitivity Effects 0 abstract 2
 230000001133 acceleration Effects 0 abstract 1
 230000000694 effects Effects 0 abstract 1
 238000005259 measurements Methods 0 abstract 1
 238000005065 mining Methods 0 abstract 1
 230000002829 reduced Effects 0 abstract 1
 239000000126 substances Substances 0 abstract 1
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 E—FIXED CONSTRUCTIONS
 E21—EARTH DRILLING; MINING
 E21B—EARTH DRILLING, e.g. DEEP 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
Abstract
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 threecomponent fluxgate and threecomponent 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 threecomponent fluxgate and threecomponent 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 threeaxis 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
gravity, which determine the zenith θ and sighting ϕ angles, measure the components m _{x} , m _{y} , m _{z of the} full vector 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 threecomponent accelerometer and α from the measured signals m _{x} , m _{y} , m _{z} from the threecomponent 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 threeaxis 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 threecomponent 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 threeaxis accelerometer / magnetometer block, which includes installing the threeaxis 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
acceleration of gravity, measure the components m _{x} , m _{y} , m _{z of the} full vector 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 threeaxis accelerometer and χ _{F} , γ _{F} , δX _{F} , δY _{F} , σ1 _{F} , σ2 _{F} for a threeaxis 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:
Where
ag _{x} , g _{y} , g _{z}  the measured signals from the sensors of the threeaxis accelerometer, and then determine the azimuth α by the formula:
Where
am _{x} , m _{y} , m _{z} are the values of the measured signals from the sensors of the threeaxis magnetometer.
The invention is illustrated by drawings. In FIG. 1 is a schematic diagram of a threeaxis 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 threeaxis unit of the accelerometer / magnetometer 8, a multichannel analogtodigital 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 groundbased 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 singlecore 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 threeaxis unit of the accelerometer / magnetometer 8 are fed to the inputs of a multichannel analogtodigital 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 errorcorrecting 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 analogtodigital conversion and conversion to a serial noiseresistant 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 threeaxis accelerometer and χ _{F} , γ _{f} , δX _{F} , δY _{F} , σ1F, σ2 _{F} for a threeaxis magnetometer, which are caused by the size variation and tolerance fields in the manufacture of parts and the assembly of the threeaxis 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 noiseresistant 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:
Where
Where
and m _{x} , m _{y} , m _{z} are the values of the measured signals from the sensors of the threeaxis 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, UAKSIAZV, setting various positions of the downhole tool body of the inclinometric system, and measuring and entering information signals from threecomponent accelerometric transducers and threecomponent fluxprobe 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} threecomponent accelerometer and χ _{F} , γ _{F} , δX _{F} , δY _{F} , σ1 _{F} , σ2 _{F of the} threecomponent fluxgate transducer, are presented in table 1.
To verify the proposed method using the IS48 inclinometric system, the UAKSIAZV calibration unit determined certain spatial positions of the downhole tool body α _{s} , θ _{s} and ϕ _{s} and measured signals from a threecomponent accelerometer transducer and a threecomponent fluxprobe transducer and calculated spatial angles orientation α _{p} , θ _{P} and ϕ _{p} presented in table 2.
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 threeaxis accelerometer and χ _{F} , γ _{F} , δX _{F} , δY _{F} , σ1 _{F} , σ2 _{F} for a threeaxis magnetometer when processing inclinometric data.
Claims (9)
 A method for determining the direction of a well during its drilling using a threeaxis accelerometer / magnetometer block, which includes installing an accelerometer / magnetometer in a threeaxis block of a downhole tool housing, using which a known vector g _{x} , g _{y} , g _{z} is measured acceleration of gravity, measure the components m _{x} , m _{y} , m _{z of the} full vector 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 threeaxis accelerometer and χ _{F} , γ _{F} , δX _{F} , δY _{F} , σ1 _{F} , σ2 _{F} for a threeaxis 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:
 Where
 ag _{x} , g _{y} , g _{z}  the measured signals from the sensors of the threeaxis accelerometer, the azimuth α is determined by the formula:
 Where
 am _{x} , m _{y} , m _{z} are the values of the measured signals from the sensors of the threeaxis magnetometer.
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Citations (7)
Publication number  Priority date  Publication date  Assignee  Title 

FR2492882A1 (en) *  19801023  19820430  Sundstrand Data Control  Method and device for studying the topography of a survey 
US4813274A (en) *  19870527  19890321  Teleco Oilfield Services Inc.  Method for measurement of azimuth of a borehole while drilling 
RU2109943C1 (en) *  19930113  19980427  Шелл Интернэшнл Рисерч Маатсхаппий Б.В.  Method determining direction of hole ( versions ) 
RU2184845C1 (en) *  20010406  20020710  Уфимский государственный нефтяной технический университет  Device for determination of borehole inclination angle and position of deflecting tool during drilling 
RU2186966C2 (en) *  20000828  20020810  Общество с ограниченной ответственностью предприятие "АРКОН"  Method of determination and compensation of inclinometer magnetic deviation 
RU2231638C1 (en) *  20021104  20040627  Общество с ограниченной ответственностью предприятие "АРКОН"  Method to measure zenith and azimuthalangles 
RU2503810C1 (en) *  20120703  20140110  Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Уфимский государственный авиационный технический университет"  Method for determining well deviation angles 

2015
 20151209 RU RU2015152915A patent/RU2610957C1/en not_active IP Right Cessation
Patent Citations (7)
Publication number  Priority date  Publication date  Assignee  Title 

FR2492882A1 (en) *  19801023  19820430  Sundstrand Data Control  Method and device for studying the topography of a survey 
US4813274A (en) *  19870527  19890321  Teleco Oilfield Services Inc.  Method for measurement of azimuth of a borehole while drilling 
RU2109943C1 (en) *  19930113  19980427  Шелл Интернэшнл Рисерч Маатсхаппий Б.В.  Method determining direction of hole ( versions ) 
RU2186966C2 (en) *  20000828  20020810  Общество с ограниченной ответственностью предприятие "АРКОН"  Method of determination and compensation of inclinometer magnetic deviation 
RU2184845C1 (en) *  20010406  20020710  Уфимский государственный нефтяной технический университет  Device for determination of borehole inclination angle and position of deflecting tool during drilling 
RU2231638C1 (en) *  20021104  20040627  Общество с ограниченной ответственностью предприятие "АРКОН"  Method to measure zenith and azimuthalangles 
RU2503810C1 (en) *  20120703  20140110  Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Уфимский государственный авиационный технический университет"  Method for determining well deviation angles 
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