RU96103393A - METHOD FOR DETERMINING AN AZIMUT AND ANTI-GRAIN ANGLE OF A WELL AND A GYROSCOPIC INCLINOMETER - Google Patents
METHOD FOR DETERMINING AN AZIMUT AND ANTI-GRAIN ANGLE OF A WELL AND A GYROSCOPIC INCLINOMETERInfo
- Publication number
- RU96103393A RU96103393A RU96103393/03A RU96103393A RU96103393A RU 96103393 A RU96103393 A RU 96103393A RU 96103393/03 A RU96103393/03 A RU 96103393/03A RU 96103393 A RU96103393 A RU 96103393A RU 96103393 A RU96103393 A RU 96103393A
- Authority
- RU
- Russia
- Prior art keywords
- axes
- axis
- angular velocity
- sensitivity
- angle
- Prior art date
Links
- 230000001133 acceleration Effects 0.000 claims 12
- 230000035945 sensitivity Effects 0.000 claims 11
- 238000011105 stabilization Methods 0.000 claims 8
- 239000011159 matrix material Substances 0.000 claims 5
- 230000002441 reversible Effects 0.000 claims 5
- 230000000875 corresponding Effects 0.000 claims 3
- 238000005259 measurement Methods 0.000 claims 3
- 230000005484 gravity Effects 0.000 claims 2
- 238000005070 sampling Methods 0.000 claims 2
- 239000003381 stabilizer Substances 0.000 claims 2
- 238000005065 mining Methods 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 239000000725 suspension Substances 0.000 claims 1
Claims (5)
где i + 1 - текущий шаг работы вычислителя;
b
Bi+1 = ΔBi+1•Bi,
где Bi, Bi+1 - матрицы ориентации на предыдущем и текущем шагах работы вычислителя;
приращение матрицы ориентации, элементы которой определяют в зависимости от углов ориентации θx, θy, θz по формулам
где ω
Ω
элементы матрицы ориентации, формируемые по результатам измерения проекций a
τ - период дискретизации работы вычислителя, причем, начальное значение матрицы ориентации равно
где αxв - азимутальный угол осей чувствительности измерителей ускорений в момент окончания выставки.1. The method of determining the azimuth and zenith angle of the well by means of a gyroscopic inclinometer, including measuring the acceleration of gravity along two mutually perpendicular axes, measuring the angular velocity relative to one of the above axes using a three-degree gyroscope, determining the initial orientation of the sensitivity axes of acceleration meters in azimuth, calculating the azimuth and zenith angle of the well, characterized in that the sensitivity axis of the acceleration meters and the sensitivity axis of the angular velocity meter the axes stabilize relative to the axis coinciding with the longitudinal axis of the downhole tool, at each step of the calculator when the downhole tool is moving in the well, the azimuth and zenith angle of the well are determined, for example, by the formulas
where i + 1 is the current step of the calculator;
b
B i + 1 = ΔB i + 1 • B i ,
where B i , B i + 1 - orientation matrix at the previous and current steps of the calculator;
the increment of the orientation matrix, the elements of which are determined depending on the orientation angles θ x , θ y , θ z according to the formulas
where ω
Ω
elements of the orientation matrix formed by measuring projections a
τ is the sampling period of the calculator, and, the initial value of the orientation matrix is
where α xв - azimuthal angle of the axes of sensitivity of the acceleration meters at the end of the exhibition.
ωэj = ω
где j - номер измерения; φx - фазовый сдвиг,
и для оценки фазового сдвига вычисляют функцию невязки, представляющую сумму квадратов разности эталонной ωэj/ и измеренной ωj угловых скоростей на всем наборе измерений, которую минимизируют по фазовому сдвигу, а азимутальный угол осей чувствительности измерителей ускорений в момент окончания выставки определяют по формуле
αxв = ψв-ψ1+αx1,
где ψ1,ψв - угол поворота осей чувствительности измерителей ускорений относительно корпуса скважинного прибора вокруг оси стабилизации в моменты начала и окончания выставки;
αx1 - азимутальный угол осей чувствительности измерителей ускорений в момент начала выставки, который равен фазовому сдвигу φx минимизирующему функцию невязки.2. The method for determining the azimuth and zenith angle of a well according to claim 1, characterized in that to determine the azimuthal angle of the sensitivity axes of the acceleration meters at the time of the end of the exhibition, these axes are rotated around the stabilization axis at a constant speed by a predetermined angle, and the rotation angle of these axes relative to the housing, the horizontal component Ω sr Earth's angular velocity in conjunction with the angular velocity of the gyroscope relative drift, sensitivity axis being the axis of the meter the angular velocity is calculated from measurements of the average angular velocity ω of rotation of the platform in, systematic component gyro drift ω
ω ej = ω
where j is the measurement number; φ x is the phase shift
and to estimate the phase shift, a residual function is calculated that represents the sum of the squares of the difference of the reference ω ej / and the measured ω j angular velocities over the entire set of measurements, which is minimized by the phase shift, and the azimuthal angle of the sensitivity axes of the acceleration meters at the time the exhibition ends is determined by the formula
α xb = ψ in -ψ 1 + α x1 ,
where ψ 1 , ψ in - the angle of rotation of the axes of sensitivity of the acceleration meters relative to the body of the downhole tool around the axis of stabilization at the moments of the beginning and end of the exhibition;
α x1 is the azimuthal angle of the sensitivity axes of the acceleration meters at the beginning of the exhibition, which is equal to the phase shift φ x minimizing the residual function.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
RU96103393A RU2100594C1 (en) | 1996-02-09 | 1996-02-09 | Method of determination of well direction and inclination and gyroscopic inclinometer |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
RU96103393A RU2100594C1 (en) | 1996-02-09 | 1996-02-09 | Method of determination of well direction and inclination and gyroscopic inclinometer |
Publications (2)
Publication Number | Publication Date |
---|---|
RU2100594C1 RU2100594C1 (en) | 1997-12-27 |
RU96103393A true RU96103393A (en) | 1998-01-27 |
Family
ID=20177208
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
RU96103393A RU2100594C1 (en) | 1996-02-09 | 1996-02-09 | Method of determination of well direction and inclination and gyroscopic inclinometer |
Country Status (1)
Country | Link |
---|---|
RU (1) | RU2100594C1 (en) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2673826C2 (en) * | 2008-11-13 | 2018-11-30 | Халлибёртон Энерджи Сервисез, Инк. | In-well tool calibration at surveying formations |
RU2482270C1 (en) * | 2011-11-11 | 2013-05-20 | Закрытое Акционерное общество Научно-производственная фирма по геофизическим и геоэкологическим работам "Каротаж" | Method for determining orientation of downhole instrument in borehole |
RU2501946C2 (en) * | 2012-03-28 | 2013-12-20 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Казанский национальный исследовательский технический университет им. А.Н. Туполева-КАИ" | Method for initial azimuthal adjustment of bore-hole instrument of hygroscopic inclinometre, and azimuthal module |
RU2499224C1 (en) * | 2012-03-28 | 2013-11-20 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Казанский национальный исследовательский технический университет им. А.Н. Туполева-КАИ" | Gyroinertial module of gyroscopic inclinometer |
RU2504651C2 (en) * | 2012-04-23 | 2014-01-20 | Открытое акционерное общество Арзамасское научно-производственное предприятие "ТЕМП-АВИА" (ОАО АНПП "ТЕМП-АВИА") | Method of initial azimuthal orientation of continuous gyroscopic inclinometre and device to this end |
RU2522709C2 (en) * | 2012-11-09 | 2014-07-20 | федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Российский государственный университет нефти и газа имени И.М. Губкина" | Diagnostics of flaws on metal surfaces |
RU2507392C1 (en) * | 2012-11-30 | 2014-02-20 | Открытое акционерное общество Арзамасское научно-производственное предприятие "ТЕМП-АВИА" (ОАО АНПП "ТЕМП-АВИА") | Method for zenith angle and drift direction determination and gyroscopic inclinometer |
RU2528105C2 (en) * | 2012-12-25 | 2014-09-10 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Казанский национальный исследовательский технический университет им. А.Н. Туполева-КАИ" | Gyroinertial module of gyroscopic inclinometer |
RU172680U1 (en) * | 2016-12-28 | 2017-07-19 | Публичное акционерное общество Арзамасское научно-производственное предприятие "ТЕМП-АВИА" (ПАО АНПП "ТЕМП-АВИА") | The device of the initial azimuthal orientation of the gyroscopic inclinometer |
RU2682087C1 (en) * | 2018-04-18 | 2019-03-14 | Публичное акционерное общество Арзамасское научно-производственное предприятие "ТЕМП-АВИА" | Well zenith angle and azimuth determining method and the gyroscopic inclinometer |
-
1996
- 1996-02-09 RU RU96103393A patent/RU2100594C1/en active
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US7730625B2 (en) | Gyroscopically-oriented survey tool | |
US4894923A (en) | Method and apparatus for measurement of azimuth of a borehole while drilling | |
US4813274A (en) | Method for measurement of azimuth of a borehole while drilling | |
EP0257263B1 (en) | Gyrocompassing apparatus for stationary equipment | |
GB2086055A (en) | Borehole Survey System | |
CA2024429A1 (en) | Borehole deviation monitor | |
RU96103393A (en) | METHOD FOR DETERMINING AN AZIMUT AND ANTI-GRAIN ANGLE OF A WELL AND A GYROSCOPIC INCLINOMETER | |
US4768152A (en) | Oil well bore hole surveying by kinematic navigation | |
AU2005220213A1 (en) | Method and apparatus for mapping the trajectory in the subsurface of a borehole | |
RU2100594C1 (en) | Method of determination of well direction and inclination and gyroscopic inclinometer | |
US4696112A (en) | Bore hole navigator | |
RU2159331C1 (en) | Method determining azimuth and zenith angle of well and gyroscopic inclinometer | |
EP0175298A2 (en) | Borehole sensing tool with optical rotation sensor | |
US6493651B2 (en) | Method and system for determining magnetic attitude | |
RU2253838C2 (en) | Method for determining angles of well direction and inclinometer | |
RU2101487C1 (en) | Gyroscopic inclinometer without gimbal and method of its using | |
CA1149201A (en) | Method and apparatus for calibrating gyroscopically-stabilized, magnetically- slaved heading reference system | |
RU2030574C1 (en) | Method for determination of well drift angle in successive points and gyroscopic inclinometer | |
RU2507392C1 (en) | Method for zenith angle and drift direction determination and gyroscopic inclinometer | |
RU2501946C2 (en) | Method for initial azimuthal adjustment of bore-hole instrument of hygroscopic inclinometre, and azimuthal module | |
RU2004786C1 (en) | Inclinometer | |
RU2682087C1 (en) | Well zenith angle and azimuth determining method and the gyroscopic inclinometer | |
SU901485A1 (en) | Gyroscopic inclinometer | |
RU2130118C1 (en) | Gyroscopic inclinometer | |
SU1002551A1 (en) | Gyroscopic inclination meter |