WO2020211842A1 - 地质导向系统的姿态监测装置及方法 - Google Patents

地质导向系统的姿态监测装置及方法 Download PDF

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Publication number
WO2020211842A1
WO2020211842A1 PCT/CN2020/085365 CN2020085365W WO2020211842A1 WO 2020211842 A1 WO2020211842 A1 WO 2020211842A1 CN 2020085365 W CN2020085365 W CN 2020085365W WO 2020211842 A1 WO2020211842 A1 WO 2020211842A1
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WIPO (PCT)
Prior art keywords
drive shaft
quasi
attitude
face angle
static
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Application number
PCT/CN2020/085365
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English (en)
French (fr)
Inventor
徐梓辰
Original Assignee
万晓跃
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Publication date
Priority claimed from CN201910554293.0A external-priority patent/CN111827979B/zh
Application filed by 万晓跃 filed Critical 万晓跃
Publication of WO2020211842A1 publication Critical patent/WO2020211842A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/04—Directional drilling

Definitions

  • the invention relates to the technical field of the petroleum industry, in particular to a posture monitoring device and method of a geo-steering system.
  • the logging-while-drilling tool carried by the geosteering system relies on the acceleration data collected by its own accelerometer to determine the gravity tool surface.
  • the logging-while-drilling tool rotates with the drill string.
  • the built-in acceleration sensor is difficult to measure the accurate gravity tool surface.
  • the resolution of the logging-while-drilling tool behind the geosteering is up to 16 sectors, which is not conducive to the further refinement of azimuth logging.
  • the accuracy of the attitude monitoring of the logging while drilling tool in the geosteering system is reduced, which is not conducive to the automatic cruise of the geosteering system.
  • the embodiment of the present invention provides a geosteering system attitude monitoring device to solve the technical problem of low accuracy in the geosteering system attitude detection process in the prior art.
  • the geosteering system applicable to the attitude monitoring device of the geosteering system includes at least one quasi-static platform and a drive shaft arranged on the central axis of the quasi-static platform, and the drive shaft and the drill bit maintain the same rotational speed for driving the drill bit,
  • the quasi-static platform is a non-rotating bias unit in a static-biased rotary geosteering system or a stator end of a directional motor in a directional motor geo-steering system.
  • the quasi-static platform is kept relatively stationary with the earth, and the device includes:
  • a second attitude measurement module the second attitude measurement module is arranged on the quasi-static platform, and is used to measure the gravity tool face angle of the quasi-static platform, and the second attitude measurement module includes at least one second acceleration measurement A sub-module, the second acceleration measurement sub-module of the second attitude measurement module includes at least two acceleration sensors that can measure the radial acceleration component of the quasi-static platform;
  • the rotation measurement module is arranged on the quasi-static platform and/or the drive shaft, and the rotation measurement module is used to measure relative rotation data between the quasi-static platform and the drive shaft.
  • the steering system is provided with a logging-while-drilling tool that rotates synchronously with the drive shaft;
  • a computing device electrically connected to the second posture measurement module and the rotation measurement module, and the computing device is used to obtain the gravity tool face angle of the quasi-static platform and the The relative rotation data measured by the rotation measurement module is used to calculate the gravity tool face angle of the logging while drilling tool based on the acquired gravity tool face angle and relative rotation data of the quasi-static platform.
  • the embodiment of the present invention also provides a method for monitoring the posture of the geosteering system to solve the technical problem of low accuracy in the process of monitoring the posture of the geosteering system in the prior art.
  • the geo-steering system applicable to the method for monitoring the attitude of the geo-steering system includes at least a quasi-static platform that can directly contact the shaft wall and maintain a quasi-static state by friction with the rock and/or other external forces, and a quasi-static platform on the quasi-static platform.
  • the drive shaft is arranged on the central axis, the drive shaft and the drill bit maintain the same rotational speed, the quasi-static platform is relatively stationary with the earth, and the quasi-static platform is a non-rotating bias unit or a static bias rotary geosteering system.
  • the stator end of the directional motor in the directional motor geosteering system, the method includes:
  • a second attitude measurement module is provided on the quasi-static platform, and the second attitude measurement module is used to measure the gravity tool face angle of the quasi-static platform, wherein the second attitude measurement module includes at least one second acceleration measurement A sub-module, the second acceleration measurement sub-module in the second attitude measurement module includes at least two acceleration sensors that can measure radial acceleration components of the quasi-static platform;
  • a rotation measurement module to measure relative rotation data between the quasi-static platform and the drive shaft, wherein the geosteering system is provided with a logging while drilling tool that rotates synchronously with the drive shaft;
  • an attitude monitoring device of a geosteering system is provided.
  • the attitude monitoring device of the geosteering system can be used for the attitude monitoring of geosteering systems such as static offset rotary geosteering systems and directional motor geosteering systems.
  • the quasi-static platform is the non-rotating offset unit in the static offset rotary geosteering system, and the drive shaft is static offset rotating
  • the driving shaft in the geosteering system when the attitude monitoring device of the geosteering system is used for the attitude monitoring of the directional motor geosteering system, the quasi-static platform is the stator end of the directional motor in the directional motor geosteering system, and the driving shaft is the directional motor
  • the drive shaft in the geosteering system specifically, it is proposed to measure the gravity tool face angle of the quasi-static platform through the second attitude measurement module, and measure the relative rotation data between the quasi-static platform and the drive shaft through the rotation measurement module.
  • the rotation measurement module can also avoid problems such as magnetic interference and obtain relatively accurate data on the relative rotation between the non-rotating bias unit (or the stator end of the oriented motor) and the drive shaft.
  • the calculation results of the face angle of the gravity tool and the relative rotation data between the non-rotating bias unit (or the stator end of the directional motor) and the drive shaft can be relatively more accurate. Therefore, for the static bias rotating geosteering system, the directional motor For geosteering systems such as geosteering systems, this application can obtain relatively more accurate gravity tool face angles of logging-while-drilling tools that rotate synchronously with the drive shaft.
  • FIG. 1 is a schematic structural diagram of a geosteering system attitude monitoring device installed on a static offset rotary geosteering system according to an embodiment of the present invention
  • FIG. 2 is an enlarged schematic diagram of part A in FIG. 1 provided by an embodiment of the present invention
  • FIG. 3 is a schematic diagram of the connection of a rotary steering system provided by an embodiment of the present invention with a logging while drilling tool;
  • FIG. 4 is a schematic diagram of the connection between the flexible section and the logging-while-drilling tool sequentially arranged behind the steering unit in the rotary steering system provided by the embodiment of the present invention
  • FIG. 5 is a schematic structural diagram of a geosteering system attitude monitoring device installed on a directional motor geosteering system according to an embodiment of the present invention
  • FIG. 6 is an enlarged schematic diagram of part C in FIG. 5 provided by an embodiment of the present invention.
  • FIG. 7 is an enlarged schematic diagram of part D in FIG. 5 according to an embodiment of the present invention.
  • Fig. 8 is a flowchart of a method for posture monitoring of a geosteering system according to an embodiment of the present invention.
  • the static offset rotary geosteering system includes a non-rotating offset unit 1, a drive shaft assembly, a static offset rotary steering hydraulic system 4, a static A biasing system with a bias rotation guide and a power system with a static bias rotation guide, etc.
  • the drive shaft assembly at least includes a drive shaft upper rotation part 21, a drive shaft central shaft 22, and a drive shaft lower rotation part 23, wherein,
  • Hydraulic system 4 (or called hydraulic power module) with static bias and rotation guidance:
  • the hydraulic system 4 includes a hydraulic pump 41 connected with an electric motor 42, a power fluid line 43, and a fluid return line 44, the power fluid tube A throttle valve is provided on the road 43, a hydraulic power housing cavity and a liquid return storage cavity are provided on the cylinder wall of the non-rotating bias unit 1, and the electric motor 42 and the hydraulic pump 41 are arranged on the hydraulic power In the accommodating cavity, each of the cylinders is in sealed communication with the hydraulic pump 41 through the power fluid pipeline, and the power fluid pipeline is in communication with the return fluid storage cavity through the return fluid pipeline.
  • Biasing system of static bias rotary steering the rotary steering relies on the non-rotating bias unit 1 to change the wellbore trajectory
  • the deflection control mechanism includes at least one set of drive components
  • the drive components include At least three sets of the piston cylinder 12, the piston 14 and the rib 10 of the rotary biasing unit are arranged at intervals along the radial direction of the non-rotating biasing unit, the piston cylinder 12 is in sealed communication with the power fluid pipeline, and the piston 14 It can move toward or away from the axis of the drive shaft assembly to push the pushing mechanism against the well wall to achieve guidance.
  • the directional drilling device also includes a power system, the power system includes an energy transmission member, a control circuit and a measurement circuit are arranged inside the non-rotation bias unit 1, so
  • the energy transmission module includes an output terminal 51 of the energy transmission module sleeved on the drive shaft between the drive shaft assembly and the non-rotating bias unit, and between the non-rotating bias unit 1 and the drive shaft assembly.
  • the energy transmission module receiving end 52 is located on the non-rotating bias unit, the energy transmission module output end 51 is electrically connected to the circuit connector, and the energy transmission module receiving end 52 is connected to the energy transmission module output end.
  • the control circuit 118 is connected to the second attitude measurement module 55, the control circuit 118 is electrically connected to the electric motor 42, the energy transmission module is a wireless energy transmission module, and the energy transmission module output terminal 51 is wireless energy transmission Module output terminal, the energy transmission module receiving terminal 52 is a wireless energy transmission module receiving terminal.
  • the directional motor geosteering system at least includes a drill bit 201, a logging-while-drilling tool 202 that rotates with the directional motor drive shaft, and the driving of the directional motor geosteering system Shaft 204, directional motor stator 205, directional motor rotor 206, rotation measurement module connector 207, rotation measurement module support structure 208, connector fixing structure 209, rotation measurement module 210, magnetic field sensor 210-1, magnet 210-2, overpass Screw cable 211, upper communication coil 212, lower communication coil 215, etc.
  • the principle of the directional motor in the directional motor geosteering system is as follows: the stator end of the directional motor is locked by external forces such as stratum friction and the stop of the turntable, and can be kept in a generally static state with the earth. There are structural corners on the stator, and the structural corners are used to offset the direction of the drill bit. Specifically, the structural bend angle forces the drilling direction of the drill bit to deviate from the original borehole trajectory to achieve the purpose of orientation.
  • the principle of directional motor directional drilling belongs to the prior art and will not be repeated here.
  • a geosteering system attitude monitoring device In the embodiment of the present invention, a geosteering system attitude monitoring device is provided.
  • the geosteering system applicable to the geosteering system attitude monitoring device includes at least one quasi-static platform and a central axis of the quasi-static platform.
  • the drive shaft maintains the same rotational speed as the drill bit, the quasi-static platform remains relatively stationary with the earth, and the quasi-static platform is a non-rotating offset unit or a directional motor geosteering system in a static offset rotary geosteering system
  • the stator end of the directional motor in the system, the device includes:
  • a second attitude measurement module the second attitude measurement module is arranged on the quasi-static platform, and is used to measure the gravity tool face angle of the quasi-static platform, and the second attitude measurement module includes at least one second acceleration measurement Sub-module, the second acceleration measurement sub-module in the second attitude measurement module includes at least two acceleration sensors that can measure the radial acceleration component of the quasi-static platform; specifically, all the acceleration sensors in the second attitude measurement module When the second acceleration measurement submodule includes three acceleration sensors, the three acceleration sensors can be installed orthogonally two by one.
  • the rotation measurement module is arranged on the quasi-static platform and/or the drive shaft, and the rotation measurement module is used to measure relative rotation data between the quasi-static platform and the drive shaft.
  • the steering system is provided with a logging-while-drilling tool that rotates synchronously with the drive shaft;
  • a computing device electrically connected to the second posture measurement module and the rotation measurement module, and the computing device is used to obtain the gravity tool face angle of the quasi-static platform and the The relative rotation data measured by the rotation measurement module is used to calculate the gravity tool face angle of the logging while drilling tool based on the acquired gravity tool face angle and relative rotation data of the quasi-static platform.
  • the attitude monitoring device of the geosteering system it is proposed to measure the face angle of the gravity tool of the quasi-static platform through the second attitude measurement module, and to measure the relative rotation data between the quasi-static platform and the drive shaft through the rotation measurement module.
  • the gravity tool face angle of the logging-while-drilling tool rotating synchronously with the drive shaft is calculated. Since the quasi-static platform is relatively non-rotating on the ground, a more accurate non-rotating bias unit or the gravity tool face angle of the stator end of the directional motor can be obtained.
  • magnetic interference and other problems can also be avoided to obtain relatively accurate results.
  • the relative rotation data between the non-rotating bias unit (or the stator end of the oriented motor) and the drive shaft makes the face angle of the gravity tool based on the non-rotating bias unit (or the stator end of the oriented motor) and the non-rotating bias unit (or
  • the calculation result of the relative rotation data between the stator end of the directional motor and the drive shaft can be relatively more accurate. Therefore, for geosteering systems such as static offset rotary geosteering systems and directional motor geosteering systems, this application can obtain relatively more accurate results.
  • the gravity tool face angle of the logging-while-drilling tool rotating synchronously with the drive shaft.
  • the attitude monitoring device of the geosteering system mentioned above can be used for the attitude monitoring of geosteering systems such as static offset rotary geosteering system and directional motor geosteering system.
  • the attitude monitoring device of the geosteering system is used for static offset
  • the quasi-static platform is the non-rotating offset unit in the static offset rotating geosteering system
  • the drive shaft is the drive shaft of the static offset rotating geosteering system
  • the logging while drilling tool is static
  • the attitude monitoring device of the above geosteering system can be regarded as the attitude monitoring device of the static offset rotary geosteering system;
  • the quasi-static platform is the stator end of the directional motor in the directional motor geosteering system
  • the drive shaft is the
  • the instrument is a logging-while-drilling instrument installed in the directional motor geosteering system that rotates synchronously with the drive shaft.
  • the attitude monitoring device of the above-mentioned geosteering system can be regarded as the attitude monitoring device of the directional motor geosteering system.
  • the quasi-static platform and the earth remain relatively static.
  • the relative static refers to: for the static offset rotary geosteering system, the guidance in the static offset rotary geosteering system is generally set on the outer circumference of the non-rotating offset unit The push arm or push roller on the surface is in abutting contact with the well wall to restrict the rotation of the non-rotating bias unit through friction, so that the non-rotating bias unit remains relatively stationary with the earth, that is, it does not rotate and bias when guiding The unit and the earth are kept relatively stationary and in quasi-static state; for the directional motor geosteering system, the stator end of the directional motor remains relatively stationary with the earth under the action of external forces such as the friction with the ground and the stop force of the rotary table of the drilling rig during steering, and is in quasi-static state .
  • the static offset rotary geosteering system includes at least one non-rotating offset unit 1 And the drive shaft 2 passing through the middle of the non-rotating biasing unit 1, the drive shaft and the drill bit maintain the same speed, the non-rotating biasing unit and the earth remain relatively stationary, the attitude monitoring device of the geosteering system is provided On the static offset rotary geosteering system, the device includes:
  • the second posture measurement module 55 is arranged on the non-rotation biasing unit 1, and is used to measure the face angle of the gravity tool of the non-rotation biasing unit 1, and the second posture measurement
  • the module includes at least one second acceleration measurement sub-module, and the second acceleration measurement sub-module in the second attitude measurement module includes at least two acceleration sensors that can measure the radial acceleration component of the non-rotating bias unit;
  • the rotation measurement module (not shown in FIG. 1) is arranged on the non-rotation offset unit 1 and/or the drive shaft 2 (for example, the rotation measurement module is arranged on the non-rotation offset unit 1 or the drive shaft
  • the shaft 2 can also be separately arranged on the non-rotating bias unit 1 and the drive shaft 2, that is, when the rotation measurement module includes multiple parts, some of the components can be arranged on the non-rotating bias unit 1.
  • the rotation measurement module is used to measure the relative rotation data between the non-rotating bias unit 1 and the drive shaft 2, wherein the static bias rotating geology
  • the steering system is provided with a logging-while-drilling tool 3 that rotates synchronously with the drive shaft 2 (as shown in Figures 3 and 4); specifically, the logging-while-drilling tool 3 can be used, including but not limited to threaded connection, plug-in It is connected to the drive shaft by means of connection, coupling connection, etc., that is, the logging-while-drilling tool 3 can be located on the drive shaft 2 or behind the drive shaft 2.
  • a computing device (not shown in FIG. 1) is electrically connected to the second posture measurement module and the rotation measurement module, and the computing device is used to obtain the gravity tool face angle measured by the second posture measurement module and The relative rotation data measured by the rotation measurement module is used to calculate the gravity tool face angle of the logging-while-drilling tool 3 that rotates synchronously with the drive shaft based on the acquired gravity tool face angle and relative rotation data.
  • the directional motor geosteering system includes at least one directional motor stator end 205 and a drive shaft 204 passing through the middle of the stator end of the directional motor 205.
  • the drive shaft 204 and the drill bit 201 maintain the same speed.
  • the stator end of the directional motor 205 remains relatively stationary with the earth.
  • the attitude monitoring of the geosteering system is The device is set on the directional motor geosteering system, and the device includes:
  • the second posture measurement module 55 is disposed on the stator end 205 of the orientation motor, and is used to measure the face angle of the gravity tool of the stator end 205 of the orientation motor, and the second posture measurement module includes At least one second acceleration measurement sub-module, wherein the second acceleration measurement sub-module of the second attitude measurement module includes at least two acceleration sensors that can measure the radial acceleration component of the stator end 205 of the orientation motor;
  • the rotation measurement module 210 is arranged on the stator end 205 of the directional motor and/or the drive shaft 204 (for example, the rotation measurement module 210 is arranged on the stator end 205 of the directional motor or the drive shaft 204, or may be separated It is arranged on the stator end 205 of the directional motor and the drive shaft 204, that is, when the rotation measurement module includes multiple parts, some of the devices can be arranged on the stator end 205 of the directional motor, and the other part can be arranged on the drive shaft.
  • the rotation measurement module 210 is used to measure the relative rotation data between the stator end 205 of the directional motor and the drive shaft 204, wherein the directional motor geo-steering system is provided with the drive shaft 204 Synchronously rotating logging-while-drilling tool 202 (as shown in Figures 5 and 6); specifically, the logging-while-drilling tool 202 can be connected to the drive shaft 204 by means including but not limited to threaded connection, plug-in connection, and coupling connection. That is, the logging while drilling tool 202 can be located on the drive shaft 204 or behind the drive shaft 204.
  • the calculation device 214 is electrically connected to the second attitude measurement module 55 and the rotation measurement module 210, and the calculation device 214 is configured to obtain the face angle and the rotation of the gravity tool measured by the second attitude measurement module 55
  • the relative rotation data measured by the measurement module 210 is used to calculate the gravity tool face angle of the logging-while-drilling tool 202 that rotates synchronously with the drive shaft based on the acquired gravity tool face angle and relative rotation data.
  • the above-mentioned directional motor stator end 205 may be a directional motor stator, or a drilling tool fixedly connected to the directional motor stator.
  • the drive shaft 204 in the directional motor geosteering system is the section between the rotor end 206 of the directional motor and the drill tool of the drill bit 201.
  • the drive shaft 204 rotates at the same speed as the drill bit 201 and is used to drive the drill bit 201 Spin.
  • the rotation measurement module 210 may be a resolver, which measures the drive shaft The relative rotation angle with the quasi-static platform. Specifically, using a resolver as a rotation measurement module is less susceptible to interference and the measurement accuracy that can be obtained is higher than other methods.
  • the rotation measurement module 210 may include a magnet (the magnet may be a permanent magnet or an electromagnetic Body) and a magnetic field sensor, the magnetic field sensor is used to measure the magnetic field of the magnet, with the drive shaft (for example, static bias rotating drive shaft 2 in a geosteering system or drive shaft 204 in a directional motor geosteering system) ), the time when the magnetic field sensor senses that the magnetic field generated by the magnet reaches the preset strength is used as the benchmark time, that is, when the magnetic field sensor measures the magnetic field of the magnet reaches the preset strength, it indicates that the drive shaft One cycle has passed, wherein the magnet is arranged on the central axis of the drive shaft, while the magnetic field sensor is arranged on the quasi-static platform; or, the magnetic field sensor is arranged on the center of the drive shaft At the same time, the magnet is
  • the magnetic field sensor 210- 1 is arranged on the central axis of the drive shaft 204, while the magnet 210-2 is arranged on the stator end 205 of the directional motor.
  • the magnet 210-2 can also be arranged on the central axis of the drive shaft 204 ,
  • the magnetic field sensor 210-1 is arranged on the stator end 205 of the orientation motor).
  • the calculation device calculates the logging while drilling tool in the following manner (for example, the logging while drilling tool may be a static offset rotary geosteering system
  • the logging-while-drilling tool 3 that rotates synchronously with the drive shaft 2 or the directional motor geosteering system that rotates with the drive shaft 204 synchronously with the gravity tool face angle of the logging-while-drilling tool 202):
  • the gravity tool face angle of the logging-while-drilling tool at any calibration time ai can be recorded as ⁇ i; at any time t of the non-standard time, add the gravity tool face angle ⁇ of the quasi-static platform to the logging-while-drilling tool from any calibration time ai before any time to the any time t
  • the first additional result (ie ⁇ +w) is obtained by the relative rotation angle w that has been rotate
  • This first additional result (ie ⁇ +w) is taken as the gravity tool face angle of the drive shaft at any time t, and the drive shaft Add the structural angle difference ⁇ between the logging-while-drilling tool and the drive shaft to the face angle of the gravity tool at any time t to obtain a second additional result (that is, ⁇ +w+ ⁇ ), and the second additional result ( That is, ⁇ +w+ ⁇ ) is taken as the gravity tool face angle of the logging-while-drilling tool at any time t, where the structural angle difference ⁇ is the tool face angle of the logging-while-drilling tool and the drive The angular difference between the tool face angles of the shaft.
  • the magnetic field sensor may adopt any magnetic field sensor including a Hall sensor.
  • the magnet can be any magnet including electromagnet and magnetic steel.
  • the relative rotation angle w can be calculated by multiplying the rotational speed of the drive shaft by the time interval, or can be directly measured by an angular velocity sensor.
  • the attitude monitoring device of the geosteering system described above may also include an angular velocity sensor, which is arranged at all.
  • the angular velocity sensor is used to measure the rotational angular velocity of the logging-while-drilling instrument. Multiplying the rotational angular velocity by the time between any calibration time before any time and the time between any time, you can get the log-while-drilling tool from any time before the calibration time to the any time. Relative corner w.
  • the above-mentioned angular velocity sensor may adopt a gyroscope.
  • the attitude monitoring device of the geo-steering system includes an angular velocity sensor
  • the angular velocity sensor follows the drive shaft (for example, the drive shaft may be the drive shaft 2 or the directional motor in the static-biased rotating geo-steering system).
  • the driving shaft 204 in the geosteering system rotates to measure the rotational angular velocity of the logging-while-drilling tool.
  • the above-mentioned computing device calculates the logging-while-drilling tool in the following manner (for example, the logging-while-drilling tool may be The logging-while-drilling tool 3 that rotates synchronously with the drive shaft 2 in a static-biased rotary geosteering system or the gravity tool of the logging-while-drilling tool that rotates synchronously with the drive shaft 204 in a directional motor geosteering system) Face Angle:
  • the gravity tool face angle of the logging-while-drilling tool at any calibration time ai can be recorded as ⁇ i; at any time t of the non-aligned time, according to the rotation angular velocity of the logging-while-drilling tool measured by the angular velocity sensor, calculate the logging-while-drilling tool from any calibration time ai before the arbitrary time to the arbitrary The relative rotation angle w turned
  • the logging-while-drilling tool can also be calculated more conveniently (for example, the logging-while-drilling tool can be a static offset rotary geosteering system that rotates synchronously with the drive shaft 2
  • the rotation measurement module 210 includes at least two magnets and at least one magnetic field sensor, and the magnetic field sensor is used to measure the magnetic field of the magnet, wherein at least two of the magnets are arranged in the quasi-static platform along the radial direction of the quasi-static platform.
  • the magnetic field sensor is used to measure the magnetic field of the magnet, wherein at least two of the magnets are arranged in the quasi-static platform along the radial direction of the quasi-static platform.
  • two adjacent magnets form a preset angle with each other, and at least one of the magnetic field sensors is arranged on the drive shaft; or, at least two of the magnets are arranged on the drive shaft along the radial direction of the drive shaft.
  • Two upper and adjacent magnets form a predetermined angle with each other, and at least one of the magnetic field sensors is arranged on the quasi-static platform;
  • the calculation device is also used to calculate the relative angle between the quasi-static platform and the drive shaft according to the magnetic field strength of the magnet measured by the magnetic field sensor at any time, and add the relative angle to The gravity tool face angle of the quasi-static platform measured by the second attitude measurement module at any time obtains a third additional result, and the third additional result is used as the gravity tool face angle of the drive shaft at the any time,
  • the gravity tool face angle of the drive shaft at any moment is added to the structural angle difference between the logging-while-drilling tool and the drive shaft to obtain a fourth additional result, and the fourth additional result is regarded as the measurement-while-drilling The gravity tool face angle of the well tool.
  • the aforementioned structural angle difference refers to the angular difference between the tool surface reference surfaces of each circuit module caused by the different installation reference surfaces.
  • the structural angle difference between the drive shaft and the logging while drilling tool is measured in the following manner:
  • the above-mentioned attitude monitoring device of the geosteering system also includes:
  • the first attitude measurement module is arranged on the drive shaft (for example, taking the attitude monitoring device of the above geosteering system used in the directional motor geosteering system as an example, as shown in FIG. 5 and FIG. 6, the first attitude measurement module 203 It can be set on the drive shaft 204 of the directional motor geosteering system; taking the attitude monitoring device of the geosteering system described above for the static offset rotary geosteering system as an example, the first attitude measurement module 203 can be set on the static offset rotary geological On the drive shaft 2 of the steering system), the first attitude measurement module includes at least a first acceleration measurement sub-module, wherein the first acceleration measurement sub-module is used to measure the gravity of the drive shaft when the drill string is in a static state Tool face angle
  • the third acceleration measurement sub-module is arranged in the drilling and logging tool, and the third acceleration measurement sub-module is used to measure the gravity tool face angle of the logging-while-drilling tool when the drill string is in a static state;
  • the calculation device is also used to calculate the angle difference between the gravity tool face angle of the drive shaft when the drill string is in a static state and the gravity tool face angle of the LWD tool when the drill string is in a static state,
  • the angle difference is the structural angle difference ⁇ between the drive shaft and the logging while drilling tool.
  • the significance of the arrangement of this embodiment is to compensate the structural angle difference of each circuit module due to the installation or thread dislocation caused by the arrayed attitude measurement.
  • the aforementioned computing device may be set in the attitude monitoring device of the geosteering system, or may be set outside the attitude monitoring device of the geosteering system.
  • the drive shaft 2 and the non-rotating offset unit 1 of the static offset rotary geosteering system are held by the first centralizing bearing 83 and the second centralizing bearing 82 Coaxially connected, the drive shaft and the non-rotating bias unit 1 are connected by a first thrust bearing 84 and a second thrust bearing 81 to achieve suspension connection.
  • the static offset rotary geo-steering system described above may include static-biased rotary steering system tools such as a static push-to-type rotary steering system, a static pointing rotary steering system, a static hybrid rotary steering system, and the like.
  • the first attitude measurement module can ensure that the pressure-bearing shell 161 and the pressure-bearing shell 161 are located at the upper and lower parts of the first attitude measurement module.
  • the outer tube is coaxial, and the circuit frame where the first attitude measurement module is located is fixed inside the pressure-bearing housing 161, so the first attitude measurement module is coaxial with the pressure-bearing housing 161.
  • the centralizing structure may be a structure capable of centralizing between the pressure-bearing shell 161 and the outer tube body, such as a centralizer, a runner converter 178, and the like. For example, as shown in FIG.
  • the second centralizer 166 used is the second centralizer 166, and the contact point between the centralizer 166 and the flexible section is at the lower starting point of the flexible section.
  • the first centralizing structure may be the first centralizer 165 as shown in FIG. 1 or the runner converter 178.
  • the first attitude measurement module may include at least one set of first acceleration measurement sub-modules, and the first acceleration measurement sub-module may be used
  • the accelerometer measures the inclination angle and/or the gravity tool face angle of the drive shaft 2.
  • the first attitude measurement module is arranged in the pressure-bearing housing 161, which is arranged in the internal flow of the drilling tool. In the tunnel, the pressure-bearing shell 161 and the outer wall of the drilling tool are supported by a centralizing structure, and the outer wall of the drilling tool may be a flexible joint shell or a drive shaft shell.
  • the first attitude measurement circuit 152 can carry the analysis circuit of the first acceleration measurement sub-module.
  • the first attitude measurement module may be arranged on the axis of the mandrel of the rotary guide, for example, The position inside the flexible section but below the flexible section, as shown in Figure 4, the flexible section is set under the non-rotating bias unit, the section shown in Figure 4 B is a flexible section (for example, the flexible section can be a section of diameter Less than the low stiffness of the non-rotating offset unit), the flexible section is a section with an outer diameter of the flexible section that is 75% smaller than the outer diameter of the rotating part 21 on the drive shaft, or the flexible section is the flexible section In the section where the upper moment of inertia is 60% smaller than the moment of inertia of the non-rotating bias unit, the inventor of the present application found that in the range of the section where the moment of inertia on the flexible joint is 60% smaller than that of the non-rotating bias
  • the first attitude measurement module may be specifically arranged in the pressure-bearing housing 161, and any position under the pressure-bearing housing 161 and the flexible section is coaxially centered by a centralizing structure.
  • the pressure-bearing housing 161 is provided with a plurality of A plurality of first centralizers 165 are provided at the lower ends of the second centralizer 166 and the pressure-bearing shell 161, and the first second centralizer 166 on the upper part of the pressure-bearing shell 161 where the first attitude measurement module is located can be set under the flexible section
  • the first first centralizer 165 at the lower part of the pressure-bearing housing 161 where the first attitude measurement module is located may be arranged above the non-rotating bias unit.
  • the lower part of the pressure-bearing housing 161 where the first attitude measurement module is located can also be provided with only one first centralizer 165 to facilitate the first attitude
  • the pressure housing 161 where the measurement module is located is inserted from the upper part of the flexible section.
  • the second centralizer 166 and the first centralizer 165 may be rubber shock-absorbing centralizers, rubber-wrapped centralizers, or centralizers made of rubber materials.
  • the acceleration sensor 151 (that is, the first acceleration measurement sub-module) in the first attitude measurement module may be arranged on the upper part of the pressure-bearing shell 161 Any position between the first second centralizer 166 and the first first centralizer 156 at the lower part of the pressure-bearing shell 161.
  • the three acceleration sensors are installed in two orthogonal directions.
  • they are generally installed orthogonally to each other and along a quasi-static platform (for example, the bias unit 1 or the orientation motor is not rotated).
  • the stator end 205) is installed in the radial direction.
  • the second acceleration measurement sub-module includes three acceleration sensors
  • two acceleration sensors are installed along the radial direction of the quasi-static platform
  • the third acceleration sensor is installed along the axial direction of the quasi-static platform.
  • two acceleration sensors are installed along the radial direction of the quasi-static platform
  • the third acceleration sensor is installed along the axial direction of the quasi-static platform. The installation of the remaining acceleration sensors is required
  • the first three accelerometers are installed at a certain angular interval for auxiliary measurement.
  • the aforementioned acceleration sensor may be a flexible quartz acceleration sensor, a piezoresistive micromechanical acceleration sensor or a capacitive micromechanical acceleration sensor.
  • the second attitude measurement module can be used to measure the gravity tool face angle of the quasi-static platform under vibration conditions, and can also be used to measure dynamic well deviation.
  • the static offset rotary steering in the static offset rotary geosteering system may include 3-4 hydraulic systems, and the 3-4 hydraulic systems are arranged in the circumferential direction on the non-rotating offset unit 1.
  • the hydraulic system includes a hydraulic power module 4 and a hydraulic module drive circuit 54; during the guiding operation, the main control circuit will calibrate the tool face angle of each hydraulic module according to the measurement result of the second attitude measurement module 55, and then through the hydraulic module Make adjustments so that the combined force of the thrust generated by each hydraulic module faces the demand-oriented direction.
  • the main control circuit, the hydraulic module drive circuit 54 and the second attitude measurement module 55 in the static bias rotary geosteering system may be arranged on the non-rotating bias unit 1 in a ring shape along the circumferential direction.
  • the second attitude measurement module 55 further includes:
  • At least one set of angular velocity measurement equipment is used to measure the angular velocity of the quasi-static platform of the geosteering system rotating around the axis of the guiding unit, wherein the angular velocity is used to assist the acceleration measurement sub-module to measure the face angle of the gravity tool.
  • the angular velocity measurement sub-module may adopt a single-axis, dual-axis or three-axis gyroscope.
  • the second attitude measurement module 55 further includes: at least one set of magnetic field strength measurement sub-modules for measuring the geosteering system The magnetic tool surface of the quasi-static platform.
  • the steering unit cannot obtain an effective power supply during the stop of drilling, the inclination angle at the steering unit can only be measured under vibration conditions, which makes it difficult to obtain accurate near-bit inclination for rotary steering.
  • Angle and near-bit azimuth angle In order to achieve high-precision near-bit measurement of the rotary steering, it is necessary to ensure that the attitude of the steering unit can be measured during the period when the pump is turned off and on. (For example, the upper part of the flexible section) is provided with a downhole turbine generator.
  • the first attitude measurement module uses the static offset rotary geosteering system
  • the underground turbine generator and/or the power storage device 162 in the system provides power, and the power storage device 162 may be a battery or a high-temperature capacitor.
  • the downhole turbine generator when the downhole turbine generator is working, the downhole turbine generator can charge the power storage device 162 through the bus, and the power storage device 162 and/or the downhole turbine generator can be used to supply power to the first attitude measurement module.
  • the generator and the power storage device 162 can supply power to each consumer in the rotating guide through the bus.
  • the power storage device 162 supplies power to the first attitude measurement module.
  • the underground turbine generator stops supplying power during the single connection process.
  • the downhole turbo generator can be used to supply power to the first attitude measurement module, or the generator and the power storage device 162 can be alternately used as the first attitude measurement module; the power storage can be used when the mud pump is turned off The device 162 supplies power to the first attitude measurement module.
  • the above-mentioned battery may be a rechargeable battery or a disposable battery with a temperature resistance above 125 degrees Celsius.
  • the power storage device 162 is a downhole high temperature resistant capacitor or a high temperature resistant rechargeable battery
  • the high temperature resistant capacitor or high temperature resistant rechargeable battery and the first attitude measurement module and the third in the logging while drilling tool 3 The acceleration measurement sub-module is electrically connected, and the electrical connection method may be directly connecting a downhole high temperature resistant capacitor or high temperature resistant rechargeable battery to the first attitude measurement module, or electrical connection with the first attitude measurement module through a connection bus.
  • the downhole turbine generator When the downhole turbine generator is working, the downhole turbine generator charges the high temperature resistant capacitor or the high temperature resistant rechargeable battery through the bus, and when the downhole turbine generator is not working, the high temperature resistant capacitor or high temperature resistant charging is used
  • the battery can supply power for the first attitude measurement module and the third acceleration measurement submodule in the logging while drilling tool 3;
  • the battery When the power storage device 162 is a non-rechargeable battery, the battery is connected to the bus through a current flow controller, and the current flow controller only allows current to flow from the battery to the bus.
  • the rechargeable battery supplies power to the first attitude measurement module and the third acceleration measurement sub-module of the logging while drilling tool 3 through the bus.
  • the current flow controller may be a circuit control switch or Diodes or electronic components with similar functions.
  • the above-mentioned power storage device 162 may be used, for example, a lithium battery, a nickel-hydrogen battery, a nickel-cadmium battery, a high-temperature-resistant capacitor bank, and the like.
  • the static-biased rotary geosteering system is provided with a bus, the bus is set in the central tube 143, the central tube 143 is set in the flexible section, and the bus
  • the electric energy of the downhole turbine generator is sent to the first attitude measurement module and the third acceleration measurement sub-module in the logging while drilling tool 3 for power supply.
  • the central tube 143 is connected to the pressure-bearing housing 161 outside the first attitude measurement module.
  • the bus can bypass the first attitude measurement module from both sides and connect to the energy transmission module output terminal control circuit 118.
  • the energy transmission module outputs
  • the end control circuit 118 transmits the electric energy of the generator to the second attitude measurement module 55 for power supply.
  • the battery may be arranged in a central tube, and the central tube 143 is a pressure-bearing tube body arranged inside the flexible section. It can be a pressure-bearing tube body of any diameter, or a smaller diameter that can only pass wires. Of the wire rod.
  • the downhole turbine generator is connected to the data line 177 in the wire passing rod, and the data wire in the wire passing rod 177 sends the electrical energy of the generator to the first attitude measurement module for power supply.
  • the data line 177 in the pole is connected to the output end control circuit 118 of the energy transmission module.
  • the output end control circuit 118 of the energy transmission module controls the electrical energy of the generator. It is sent to the second attitude measurement module 55 for power supply.
  • the downhole turbine generator can supply power (for example, the power supply voltage of the turbine generator may be 48 Ford), power is connected from the turbine generator, and power is supplied to the rotary steering system through the data line 177 in the wire rod.
  • the data line in the wire rod sends the electric energy of the generator to the first attitude measurement module for power supply, and the power in the data wire in the wire rod passes through the runner converter 178 and the drive shaft circuit skeleton 119.
  • the energy transmission module output terminal control circuit 118 further controls the energy transmission module output terminal 51 on the drive shaft to transmit power to the energy transmission module receiving terminal 52 provided on the non-rotating bias unit 1, thereby supplying power to the non-rotating bias unit 1.
  • the circuit for example, the second posture measurement module 55 provided on the setting unit 1 is used. Further, under the control of the second attitude measurement module 55, the motor control module 54 will allocate most of the electric power to the electric motor 42 to drive the hydraulic pump 41 and bias the drilling tool through the hydraulic piston 14.
  • the specific biasing method may be such that the rib 10 is driven against the well wall by the piston assembly, or it may be a biased actuator with static biasing rotation guidance such as a directional bias or a hybrid bias.
  • the bus is connected to the output end control circuit 118 of the energy transmission module.
  • the output end control circuit 118 of the energy transmission module transmits the electric energy of the downhole turbine generator to the non-rotating bias unit 1 through the output end of the energy transmission module.
  • Power supply; the attitude monitoring device of the geosteering system includes a first switch element, the first switch element is arranged at any position between the bus and the output end of the energy transmission module, for example, can be at the output end of the energy transmission module control circuit 118 or transmission
  • a first switching element is provided on the bus power management circuit of the short section where the module output control circuit 118 is located; the first switching element receives a trigger signal and cuts off or restores the power supply of the non-rotating bias unit 1 according to the trigger signal.
  • the trigger signal may come from a host computer of the first switching element, and the host computer may be any control circuit of the downhole rotary steering system or a ground control instrument.
  • the downhole turbine generator and battery can supply power to various electrical appliances in the rotation steering through the bus.
  • the rotation steering system control circuit can judge the working status of the generator by means of generator speed or bus voltage change. The opening and closing of the first switching element is controlled, and then the power supply of the non-rotating bias unit is cut off or restored through the first switching element to save battery energy.
  • the attitude monitoring device of the geosteering system when used in a static-biased rotating geosteering system, the attitude monitoring device of the geosteering system further includes:
  • the second switch element is arranged between the energy transmission module receiving terminal 51 of the non-rotating bias unit 1 and the hydraulic module motor drive circuit 54.
  • the second switch element is used to receive instructions from the bus, and according to the instructions
  • the power supply between the receiving end 51 of the energy transmission module and the motor drive circuit 54 of the hydraulic module is disconnected or connected. So that when the battery is supplying power to each consumer in the rotating guide, the hydraulic system can be cut off through the second switch element to save battery energy.
  • the above-mentioned second switching element can be arranged at any position in the non-rotating bias unit 1 including the main control circuit.
  • the main control circuit is responsible for decomposing the guiding force according to the direction of the guiding force, and controlling each hydraulic system to realize the bias of the rotary steering.
  • the method for realizing the bias of the rotary steering may be to transmit the biasing force to the well wall. Guiding can also be the transfer of biasing force to the drive shaft, and the guidance can be achieved by forcing the drive shaft to flex, or it can be a combination of the above two methods.
  • the main control circuit and the hydraulic module motor drive circuit are arranged in the non-rotating bias unit along the circumferential direction.
  • the above-mentioned static offset rotary geosteering system further includes: a flexible pipe body 142, a pressure-bearing shell 161 is arranged inside the drill string for static-bias rotary steering, and the first attitude measurement module is arranged on the pressure-bearing shell In 161, the rotation guide system is provided with a bus for transmitting power, the bus is provided in the central tube 143, and there is provided between the central tube 143 and the pressure-bearing housing 161 outside the first attitude measurement module
  • the flexible pipe body 142 is provided with a bus for transmitting power, the bus is provided in the central tube 143, and there is provided between the central tube 143 and the pressure-bearing housing 161 outside the first attitude measurement module.
  • the use of the flexible pipe body 142 makes the probe tube assembly flexible, so that the first attitude measurement module will not be deformed due to the flexible deformation of the flexible joint, which is beneficial to increase the first attitude measurement module in the guide unit.
  • the coaxiality facilitates the realization of high-precision, static near-bit measurement of the first attitude measurement module.
  • the second attitude measurement module 55 includes at least two second acceleration measurement sub-modules
  • one of the second acceleration measurement sub-modules is set as a backup, and the other second acceleration measurement sub-modules are set as the main one.
  • the attitude monitoring device of the geosteering system also includes:
  • the analysis circuit is used to determine the trust level of each second acceleration measurement submodule according to the measurement results of each set of second acceleration measurement submodules in the second attitude measurement module 55.
  • the acceleration measurement sub-module may include two-axis acceleration sensors arranged perpendicular to each other or two-by-two multi-axis acceleration sensors arranged perpendicular to each other.
  • the analysis circuit determines the trust level of each second acceleration measurement submodule according to the measurement results of each set of second acceleration measurement submodules. For example, a weighted value is set for each second acceleration measurement sub-module according to the measurement results of each set of second acceleration measurement sub-modules, and the weighted value represents the degree of trust.
  • the analysis circuit will choose to distrust this second acceleration measurement submodule C and set the trust level to 0; or reduce the trust level of the second acceleration measurement submodule C. Or for example, when there is no data output from a certain acceleration measurement submodule or the output data is obviously wrong, the trust value of the second acceleration measurement submodule is 0, and the trust value of the other acceleration measurement submodule is 100%.
  • the second attitude measurement module 55 includes two sets of second acceleration measurement sub-modules, one of the two sets of second acceleration measurement sub-modules uses a quartz accelerometer as an acceleration sensor, and the other set of second acceleration measurement sub-modules
  • the second acceleration measurement sub-module uses a micromechanical accelerometer as the acceleration sensor. It makes use of the advantages of high precision of quartz accelerometers and the advantages of large measurement range of micro-mechanical acceleration and not easy to damage.
  • the analysis circuit weights the gravity tool face angle data measured by the two sets of second acceleration measurement submodules according to the trust level of each set of second acceleration measurement submodules, and then calculates the final gravity tool face angle.
  • the accelerometer sub-module equipped with the quartz accelerometer can be trusted to be 100% or any value greater than 50%.
  • the quartz accelerometer cannot output an accurate value due to strong vibration, then Reduce the trust value of the quartz acceleration sensor on the original basis.
  • the first attitude measurement module is arranged in the pressure-bearing housing 161, which is arranged in the drill In the internal flow channel of the tool, the pressure-bearing shell 161 and the outer wall of the drilling tool are supported by a centralizer, and the outer wall of the drilling tool can be a flexible joint shell or a drive shaft shell.
  • the tool in the quasi-static platform measured by the second attitude measurement module 55 can be used to apply a guiding force to the direction that needs to be guided.
  • the dynamic monitoring method of tool attitude or well trajectory during drilling is a dynamic monitoring method of tool attitude or well trajectory during drilling
  • the first attitude measurement module During the stationary period of the drill string, read the static attitude data measured by the first attitude measurement module to monitor and verify the rotation steering near-bit attitude or wellbore trajectory.
  • the first attitude measurement module is completed during the single root connection
  • the measured static attitude data can be any one or a combination of inclination angle and azimuth angle.
  • the downhole vibration caused by the drill bit breaking rock can be eliminated by not continuing to feed the drill and stopping the rotating drill string.
  • any of the first attitude measurement module or the second attitude measurement module 55 can be used.
  • the attitude monitoring device of the geosteering system is used for static When the rotary geosteering system is biased, the pressure-bearing housing 161 carrying the first attitude measurement module and the drive shaft circuit skeleton 119 are fixedly connected through the runner converter 178, so that the first attitude measurement inside the pressure-bearing housing 161
  • the module can be easily electrically connected with other circuits inside the drive shaft circuit skeleton 119.
  • the drive shaft circuit skeleton 119 is arranged in a ring shape, the pressure-bearing housing 161 flows to the converter 178 and the drive shaft circuit skeleton.
  • the flow-to-converter 178 can be used as the first righting structure under the first attitude measurement module, which can be connected to the circuit inside the drive shaft circuit skeleton 119 Can realize electrical connection. Since the pressure-bearing shell 161 has a fixed position relative to its outer drill string, and the relative position of the center pipe and the flexible section is fixed, when the outer drill string of the pressure-bearing shell 161 and the flexible section are unscrewed, the bearing of the first attitude measurement module is carried The pressure housing 161 and the central tube 143 need to be connected in a plug-in manner capable of relative rotation and axial sliding.
  • the insertion place between the pressure housing 161 and the central pipe 143 can adopt a single-core pin or a coaxial connection. Any one or any combination of double-core pins, coaxial multi-core pins and electric slip rings can realize the electrical connection between the upper circuit of the socket and the lower circuit of the socket.
  • an embodiment of the present invention also provides a method for attitude monitoring of a geosteering system, as described in the following embodiments. Since the problem-solving principle of the geosteering system attitude monitoring method is similar to that of the geosteering system attitude monitoring device, the implementation of the geosteering system attitude monitoring method can refer to the implementation of the geosteering system attitude monitoring device, and the repetition will not be repeated. .
  • Fig. 8 is a flow chart of a method for attitude monitoring of a geosteering system according to an embodiment of the present invention.
  • the geosteering system to which the method for attitude monitoring of the geosteering system is applicable includes at least one quasi-static platform and a crossing setting from the quasi-static platform.
  • the drive shaft maintains the same rotational speed as the drill bit, the quasi-static platform remains relatively stationary with the earth, and the quasi-static platform is a non-rotating offset unit or a directional motor geosteering system in a static offset rotary geosteering system
  • the stator end of the directional motor in the system as shown in Figure 8, the method includes:
  • Step 802 Set up a second attitude measurement module on the quasi-static platform, and use the second attitude measurement module to measure the face angle of the gravity tool of the quasi-static platform, wherein the second attitude measurement module includes at least one first attitude measurement module.
  • Two acceleration measurement sub-modules, the second acceleration measurement sub-module of the second attitude measurement module includes at least two acceleration sensors that can measure the radial acceleration component of the quasi-static platform;
  • Step 804 Use a rotation measurement module to measure relative rotation data between the quasi-static platform and the drive shaft, wherein the geosteering system is provided with a logging-while-drilling tool that rotates synchronously with the drive shaft;
  • Step 806 Obtain the gravity tool face angle measured by the second attitude measurement module and the relative rotation data measured by the rotation measurement module, and calculate the synchronous rotation with the drive shaft based on the acquired gravity tool face angle and relative rotation data The gravity tool face angle of the logging-while-drilling tool.
  • the rotation measurement module is a resolver.
  • the rotation measurement module includes a magnet and a magnetic field sensor, the magnetic field sensor is used to measure the magnetic field of the magnet, and as the drive shaft rotates, the magnetic field sensor is induced to generate The time when the magnetic field reaches the preset strength is used as the benchmark time, wherein the magnet is arranged on the central axis of the drive shaft, the magnetic field sensor is arranged on the quasi-static platform, or the magnetic field sensor is arranged on On the central axis of the drive shaft, the magnet is set on the quasi-static platform; the gravity tool face of the logging-while-drilling tool rotating synchronously with the drive shaft is calculated according to the acquired gravity tool face angle and relative rotation data Angle, including:
  • the first additional result is obtained from the relative angle of rotation from the specified time to the arbitrary time, and the first additional result is used as the gravity tool face angle of the drive shaft at the arbitrary time.
  • the face angle is added to the structural angle difference between the logging-while-drilling tool and the drive shaft to obtain a second additional result, and the second additional result is used as the face angle of the gravity tool of the logging-while-drilling tool at any time.
  • an angular velocity sensor is provided on the drive shaft or any downhole tool above the drive shaft, and the angular velocity sensor is used to measure the rotational angular velocity of the logging while drilling tool.
  • the rotation measurement module includes at least two magnets and at least one magnetic field sensor, the magnetic field sensor is used to measure the magnetic field of the magnet, wherein at least two of the magnets are along the radial direction of the quasi-static platform It is arranged on the quasi-static platform and two adjacent magnets form a predetermined angle with each other, and at least one of the magnetic field sensors is arranged on the drive shaft; or, at least two of the magnets are arranged along the radial direction of the drive shaft On the drive shaft and two adjacent magnets form a preset angle with each other, at least one of the magnetic field sensors is arranged on the quasi-static platform; calculated according to the acquired gravity tool face angle and relative rotation data of the quasi-static platform
  • the face angle of the gravity tool of the logging-while-drilling tool that rotates synchronously with the drive shaft includes:
  • the gravity tool face angle of the quasi-static platform measured by the measurement module obtains a third additional result, which is taken as the gravity tool face angle of the drive shaft at any moment, and the drive shaft is at the arbitrary
  • the face angle of the gravity tool at the moment is added to the structural angle difference between the logging-while-drilling tool and the drive shaft to obtain a fourth additional result, which is used as the gravity tool face angle of the logging-while-drilling tool.
  • it further includes:
  • a first attitude measurement module is provided on the drive shaft.
  • the first attitude measurement module includes at least a first acceleration measurement sub-module.
  • the first acceleration measurement sub-module measures the drive shaft when the drill string is in quasi-static conditions. The face angle of the gravity tool;
  • a third acceleration measurement sub-module is arranged in the drilling and logging tool, and the gravity tool face angle of the logging-while-drilling tool is measured by the third acceleration measurement sub-module when the drill string is in a static state;
  • the second acceleration measurement sub-module in the second attitude measurement module includes three acceleration sensors
  • the three acceleration sensors are installed in two orthogonal directions.
  • the second attitude measurement module further includes:
  • At least one set of angular velocity measurement sub-module through which the angular velocity measurement sub-module measures the angular velocity of the quasi-static platform of the geosteering system rotating around the axis of the steering unit, wherein the angular velocity is used to assist the acceleration measurement sub-module to measure Get the face angle of the gravity tool.
  • the second attitude measurement module further includes:
  • At least one set of magnetic field strength measuring sub-modules is used to measure the magnetic tool surface of the quasi-static platform.
  • it further includes:
  • a downhole turbine generator is provided on the static offset rotary geosteering system, and when the attitude monitoring device of the geosteering system is used in the static offset rotary geosteering system, the static offset rotary geosteering system is used.
  • the underground turbine generator and/or the power storage device is used to power the first attitude measurement module, and the power storage device is a battery or a high-temperature capacitor.
  • using the downhole turbine generator and/or power storage device in the rotary steering system to power the first attitude measurement module includes:
  • the power storage device is an underground high temperature resistant capacitor or a high temperature resistant rechargeable battery
  • the high temperature resistant capacitor or high temperature resistant rechargeable battery is electrically connected to the first attitude measurement module, and the underground turbine generator provides the high temperature resistant capacitor via a bus.
  • the capacitor or the high temperature resistant rechargeable battery is charged, and when the downhole turbine generator is not working, the high temperature resistant capacitor or the high temperature resistant rechargeable battery supplies power to the first attitude measurement module and the third acceleration measurement sub-module;
  • the battery When the power storage device is a non-rechargeable battery, the battery is connected to the bus through a current flow controller, and the current flow controller only allows current to flow from the battery to the bus, and the non-rechargeable battery passes through The bus provides power for the first attitude measurement module and the third acceleration measurement submodule.
  • the bus of the static-biased rotary geosteering system is arranged in a central pipe, the central pipe is arranged in a flexible section, and the bus sends the electric energy of the downhole turbine generator to all
  • the first attitude measurement module and the third acceleration measurement sub-module provide power supply.
  • the bus is connected to an energy transmission module output end control circuit, and the energy transmission module output end control circuit transmits the electric energy of the downhole turbine generator to the non-rotating
  • the bias unit supplies power
  • the attitude monitoring method of the geosteering system further includes:
  • a first switch element is arranged at any position between the output terminal of the energy transmission module and the bus, and a trigger signal is received through the first switch element, and the power supply of the non-rotating bias unit is cut off or restored according to the trigger signal.
  • the trigger signal may be sent by the rotation guidance system control circuit.
  • the rotation guidance system control circuit makes the battery supply power to the bus and at the same time disconnects the non-rotation bias unit through the first switching element. powered by.
  • the ground control instrument can also send a trigger signal to cut off the power supply of the non-rotating bias unit by means of downloading instructions.
  • it further includes:
  • a second switch element is provided between the receiving end of the energy transmission module of the non-rotating bias unit and the hydraulic module motor drive circuit, and the command of the bus is received through the second switch element, and the or Connecting the power supply between the receiving end of the energy transmission module and the motor drive circuit of the hydraulic module.
  • the hydraulic system provided on the non-rotating bias unit is controlled by a main control circuit, and the main control circuit controls the second switching element to stop or restore the hydraulic system. Work, but the main control circuit still controls the second switch element to start and stop the hydraulic system according to the instruction of the trigger signal after receiving the trigger signal.
  • the trigger signal can be issued by the control circuit of the rotary guidance system, or by The ground control instrument downloads the trigger signal by downloading the command.
  • it further includes:
  • a pressure-bearing shell is arranged inside the drill string of the static-biased rotary geosteering system, the first attitude measurement module is arranged in the pressure-bearing shell, the bus is arranged in the center tube, and the center tube and the second A flexible pipe body is arranged between the pressure-bearing shells outside a measuring module.
  • the second attitude measurement module includes at least two second acceleration measurement sub-modules
  • one of the second acceleration measurement sub-modules is set as a backup
  • the other second acceleration measurement sub-modules are set as the main use
  • the attitude monitoring method of the geosteering system further includes:
  • the degree of trust of each second acceleration measurement submodule is determined by the analysis circuit according to the measurement result of each second acceleration measurement submodule in the second attitude measurement module.
  • the second attitude measurement module includes two sets of second acceleration measurement sub-modules, one of the two sets of second acceleration measurement sub-modules uses a quartz accelerometer as the acceleration sensor, and the other The second set of acceleration measurement sub-modules uses a micromachined accelerometer as an acceleration sensor.
  • the attitude monitoring device of the geosteering system when used in a static-biased rotary geosteering system, the pressure-bearing shell carrying the first attitude measurement module and the drive shaft circuit skeleton are converted through a flow channel
  • the device is fixedly connected, and a plug-in connection is adopted between the pressure-bearing shell carrying the first attitude measurement module and the central tube.
  • a geosteering system attitude monitoring device is provided, which can be used in geosteering systems such as static offset rotary geosteering systems, directional motor geosteering systems, etc.
  • the quasi-static platform is the non-rotating offset unit in the static offset rotary geosteering system, and the drive shaft is static Offset the driving shaft in the rotating geosteering system;
  • the attitude monitoring device of the geosteering system is used for the attitude monitoring of the directional motor geosteering system, the quasi-static platform is the stator end of the directional motor in the directional motor geosteering system, and the driving shaft
  • the gravity tool face angle of the logging-while-drilling tool rotating synchronously with the drive shaft is calculated. Since the quasi-static platform is relatively non-rotating on the ground, a more accurate non-rotating bias unit or the gravity tool face angle of the stator end of the directional motor can be obtained. By rotating the measurement module, magnetic interference and other problems can also be avoided to obtain relatively accurate results.
  • the relative rotation data between the non-rotating bias unit (or the stator end of the oriented motor) and the drive shaft makes the face angle of the gravity tool based on the non-rotating bias unit (or the stator end of the oriented motor) and the non-rotating bias unit (or
  • the calculation result of the relative rotation data between the stator end of the directional motor and the drive shaft can be relatively more accurate. Therefore, for geosteering systems such as static offset rotary geosteering systems and directional motor geosteering systems, this application can obtain relatively more accurate results.
  • the gravity tool face angle of the logging-while-drilling tool rotating synchronously with the drive shaft.
  • modules or steps of the above-mentioned embodiments of the present invention can be implemented by a general computing device, and they can be concentrated on a single computing device, or distributed among multiple computing devices.
  • they can be implemented with program codes executable by a computing device, so that they can be stored in a storage device for execution by the computing device, and in some cases, can be different from here
  • the steps shown or described are executed in the order of, or they are respectively fabricated into individual integrated circuit modules, or multiple modules or steps of them are fabricated into a single integrated circuit module to achieve.
  • the computing device may be a computing device with computing capabilities such as a single-chip microcomputer, a digital signal processing chip, an FPGA chip or a PLC.

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Abstract

一种地质导向系统的姿态监测装置，包括：第二姿态测量模块(55)，设置于准静态平台上，测量准静态平台的重力工具面角，准静态平台为静态偏置旋转地质导向系统中的不旋转偏置单元或定向马达地质导向系统中的定向马达定子端；第二姿态测量模块(55)包括至少一个第二加速度测量子模块，其至少包含两个可测量准静态平台径向加速度分量的加速度传感器(151)；转动测量模块(210)，设于准静态平台和/或驱动轴上，转动测量模块(210)用于测量准静态平台与驱动轴的相对转动数据；计算设备(214)，用于根据获取的重力工具面角和相对转动数据计算随所述驱动轴同步旋转的随钻测井仪器的重力工具面角。还公开一种使用该装置的测量方法。该装置和方法使得随钻测井仪器的姿态监测结果更为准确。

Description

地质导向系统的姿态监测装置及方法 技术领域
本发明涉及石油工业技术领域，特别涉及一种地质导向系统的姿态监测装置及方法。
背景技术
现有技术中，地质导向系统所携带的随钻测井仪器依靠其自身携带的加速度计采集的加速度数据判断重力工具面，然而，在钻井过程中，随钻测井仪器随钻柱旋转，其内置的加速度传感器很难测得准确的重力工具面。在可调研的现有技术中，地质导向后方的随钻测井仪器的分辨率最高为16扇区，不利于方位测井的进一步精细化。降低了地质导向系统中的随钻测井仪器的姿态监测的准确度，不利于地质导向系统的自动巡航。
发明内容
本发明实施例提供了一种地质导向系统的姿态监测装置，以解决现有技术中地质导向系统姿态检测的过程存在准确度低的技术问题。该地质导向系统的姿态监测装置适用的地质导向系统至少包括一个准静态平台和在所述准静态平台的中心轴线上设置的驱动轴，所述驱动轴与钻头保持同等转速，用于驱动钻头，所述准静态平台为静态偏置旋转地质导向系统中的不旋转偏置单元或定向马达地质导向系统中的定向马达定子端，所述准静态平台与大地保持相对静止，该装置包括：
第二姿态测量模块，所述第二姿态测量模块设置于所述准静态平台上，用于测量所述准静态平台的重力工具面角，所述第二姿态测量模块包括至少一个第二加速度测量子模块，所述第二姿态测量模块中的第二加速度测量子模块至少包含两个可测量所述准静态平台径向加速度分量的加速度传感器；
转动测量模块，设置于所述准静态平台和/或所述驱动轴上，所述转动测量模块用于测量所述准静态平台与所述驱动轴之间的相对转动数据，其中，所述地质导向系统中设置有随所述驱动轴同步旋转的随钻测井仪器；
计算设备，与所述第二姿态测量模块和所述转动测量模块电连接，所述计算设备用于获取所述第二姿态测量模块测得的所述准静态平台的重力工具面角和所述转动测量模 块测得的相对转动数据，根据获取的所述准静态平台的重力工具面角和相对转动数据计算所述随钻测井仪器的重力工具面角。
本发明实施例还提供了一种地质导向系统的姿态监测方法，以解决现有技术中监测地质导向系统姿态的过程存在精度低的技术问题。该地质导向系统的姿态监测方法适用的地质导向系统至少包括一个可与井壁直接接触依靠与岩石的摩擦力和/或其他外部力保持准静态状态的准静态平台和在所述准静态平台的中心轴线上设置的驱动轴，所述驱动轴与钻头保持同等转速，所述准静态平台与大地保持相对静止，所述准静态平台为静态偏置旋转地质导向系统中的不旋转偏置单元或定向马达地质导向系统中的定向马达定子端，所述方法包括：
在所述准静态平台上设置第二姿态测量模块，采用所述第二姿态测量模块测量所述准静态平台的重力工具面角，其中，所述第二姿态测量模块包括至少一个第二加速度测量子模块，所述第二姿态测量模块中的第二加速度测量子模块至少包含两个可测量准静态平台径向加速度分量的加速度传感器；
采用转动测量模块测量所述准静态平台与所述驱动轴之间的相对转动数据其中，所述地质导向系统中设置有随所述驱动轴同步旋转的随钻测井仪器；
获取所述第二姿态测量模块测得的准静态平台的重力工具面角和所述转动测量模块测得的相对转动数据，根据获取的准静态平台的重力工具面角和相对转动数据计算所述随钻测井仪器的重力工具面角。
在本发明实施例中，提供了一种地质导向系统的姿态监测装置，该地质导向系统的姿态监测装置可以用于静态偏置旋转地质导向系统、定向马达地质导向系统等地质导向系统的姿态监测，当该地质导向系统的姿态监测装置用于静态偏置旋转地质导向系统的姿态监测时，准静态平台为静态偏置旋转地质导向系统中的不旋转偏置单元，驱动轴为静态偏置旋转地质导向系统中的驱动轴；当该地质导向系统的姿态监测装置用于定向马达地质导向系统的姿态监测时，准静态平台为定向马达地质导向系统中的定向马达定子端，驱动轴为定向马达地质导向系统中的驱动轴，具体的，提出了通过第二姿态测量模块测量准静态平台的重力工具面角，通过转动测量模块测量准静态平台与驱动轴之间的相对转动数据，进而根据获取的重力工具面角和相对转动数据计算随驱动轴同步旋转的随钻测井仪器的重力工具面角。由于准静态平台依靠其与地层的摩擦力和/或其他外部力可保持相对大地是大体上不旋转的，使得可以获得较为精准的不旋转偏置单元或定向马达定子端的重力工具面角，通过转动测量模块也能避免磁干扰等问题进而获取相对较准 确的不旋转偏置单元(或定向马达定子端)与驱动轴之间的相对转动数据，使得基于不旋转偏置单元(或定向马达定子端)的重力工具面角以及不旋转偏置单元(或定向马达定子端)与驱动轴之间的相对转动数据的计算结果可以相对更准确，因此，对于静态偏置旋转地质导向系统、定向马达地质导向系统等地质导向系统，本申请可以获取相对更准确的随驱动轴同步旋转的随钻测井仪器的重力工具面角。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。在附图中：
图1是本发明实施例提供的一种地质导向系统的姿态监测装置安装在静态偏置旋转地质导向系统上的结构示意图；
图2是本发明实施例提供的图1中A部分的放大示意图；
图3是本发明实施例提供的一种旋转导向系统设置随钻测井仪器的连接示意图；
图4是本发明实施例提供的一种旋转导向系统中导向单元后方顺序设置柔性节和随钻测井仪器的连接示意图；
图5是本发明实施例提供的一种地质导向系统的姿态监测装置安装在定向马达地质导向系统上的结构示意图；
图6是本发明实施例提供的图5中C部分的放大示意图；
图7是本发明实施例提供的图5中D部分的放大示意图；
图8是本发明实施例提供的一种地质导向系统的姿态监测方法的流程图。
附图标号如下：
1不旋转偏置单元
2驱动轴
21驱动轴上旋转部
22驱动轴中心轴
23驱动轴下旋转部
3随钻测井仪器
31随钻测井电路
11乏液存储腔
10翼肋
12活塞缸
14活塞
13翼肋盖板
15电器接头
4液压动力模块
42电动机
41泵
43动力管路
44回液管路
51能量传输模块输出端
52能量传输模块接收端
55第二姿态测量模块
54液压模块驱动电路
81第二止推轴承
82第二扶正轴承
83第一扶正轴承
84第一止推轴承
118能量传输模块输出端控制电路
119驱动轴电路骨架
91滑环下环
92滑环上环
171滑环下本体
172滑环上本体
174滑环下本体内置数据线
175滑环上本体内置数据线
142柔性管体
143中心管
151加速度传感器
152第一姿态测量电路
153磁场强度传感器
161承压壳体
162蓄电装置
163伽马探测器
164伽马探测器盖板
165承压壳体第一扶正器
166承压壳体第二扶正器
173流道转换器
176超深孔
177数据线
178流道转换器
201钻头
202随定向马达驱动轴转动的随钻测井仪器
203第一姿态测量模块
204定向马达地质导向系统的驱动轴
205定向马达定子端
206定向马达转子端
207转动测量模块连接件
208转动测量模块支撑结构
209连接件固定结构
210转动测量模块
210-1磁场传感器
210-2磁体
211过螺杆电缆
212上通讯线圈
214计算设备
215下通讯线圈
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚明白，下面结合附图对本发明实施例做进一步详细说明。在此，本发明的示意性实施例及其说明用于解释本发明，但并不作为对本发明的限定。
在本发明实施例中，如图1、图3、图4所示，静态偏置旋转地质导向系统包括不旋转偏置单元1、驱动轴总成、静态偏置旋转导向的液压系统4、静态偏置旋转导向的偏置系统以及静态偏置旋转导向的电力系统等，所述驱动轴总成至少包括驱动轴上旋转部21、驱动轴中心轴22以及驱动轴下旋转部23，其中，
静态偏置旋转导向的液压系统4(或称为液压动力模块)：所述液压系统4包括连接有电动机42的液压泵41、动力液管路43和回液管路44，所述动力液管路43上设有节流阀，所述不旋转偏置单元1的筒壁上设有液压动力容置腔和回液存储腔，所述电动机42和所述液压泵41设置于所述液压动力容置腔内，各所述缸筒通过所述动力液管路与所述液压泵41密封连通，所述动力液管路通过所述回液管路与所述回液存储腔相连通。
静态偏置旋转导向的偏置系统：所述旋转导向是依靠不旋转偏置单元1改变井眼轨迹的，所述偏转控制机构包括至少一组驱动组件，所述驱动组件包括设置于所述不旋转偏置单元的至少三组沿所述不旋转偏置单元的径向间隔设置的活塞缸12、活塞14和翼肋10，所述活塞缸12与动力液管路密封联通，所述活塞14能朝向或者远离所述驱动轴总成的轴线移动使推靠机构推抵井壁，实现导向。
静态偏置旋转导向的电力系统：所述定向钻孔装置还包括电力系统，所述电力系统包括能量传输件、设置于所述不旋转偏置单元1的内部设置有控制电路和测量电路，所述能量传输模块包括在所述驱动轴总成与不旋转偏置单元之间套设于驱动轴上的能量传输模块输出端51、以及在所述不旋转偏置单元1与驱动轴总成之间位置设置于不旋转偏置单元上的能量传输模块接收端52，所述能量传输模块输出端51与所述电路接头电连接，所述能量传输模块接收端52与所述能量传输模块输出端控制电路118和所述第二姿态测量模块55连接，所述控制电路118与所述电动机42电连接，所述能量传输模块为无线能量传输模块，所述能量传输模块输出端51为无线能量传输模块输出端，所述能量传输模块接收端52是无线能量传输模块接收端。
在本发明实施例中，如图5、图6、图7所示，定向马达地质导向系统至少包括钻头201、随定向马达驱动轴转动的随钻测井仪器202、定向马达地质导向系统的驱动轴204、定向马达定子205、定向马达转子206、转动测量模块连接件207、转动测量模块支撑结构208、连接件固定结构209、转动测量模块210、磁场传感器210-1、磁体210-2、过螺杆电缆211、上通讯线圈212以及下通讯线圈215等。
具体实施时，定向马达地质导向系统中定向马达实现定向的原理如下：定向马达定子端是被地层摩擦力和转盘止动等外部力锁定的，可保持与大地大体上为静止状态，定向马达的定子上存在结构弯角，结构弯角用于偏置钻头走向。具体的，所述结构弯角迫使钻头的钻进方向偏离原井眼轨迹，以达到定向的目的。定向马达定向钻井的原理属于现有技术，此处不再赘述。
在本发明实施例中，提供了一种地质导向系统的姿态监测装置，该地质导向系统的姿态监测装置适用的地质导向系统至少包括一个准静态平台和在所述准静态平台的中心轴线上设置的驱动轴，所述驱动轴与钻头保持同等转速，所述准静态平台与大地保持相对静止，所述准静态平台为静态偏置旋转地质导向系统中的不旋转偏置单元或定向马达地质导向系统中的定向马达定子端，所述装置包括：
第二姿态测量模块，所述第二姿态测量模块设置于所述准静态平台上，用于测量所述准静态平台的重力工具面角，所述第二姿态测量模块包括至少一个第二加速度测量子模块，所述第二姿态测量模块中的第二加速度测量子模块至少包含两个可测量所述准静态平台径向加速度分量的加速度传感器；具体的，所述第二姿态测量模块中的所述第二加速度测量子模块包括三个加速度传感器时，所述三个加速度传感器可以两两正交安装。
转动测量模块，设置于所述准静态平台和/或所述驱动轴上，所述转动测量模块用于测量所述准静态平台与所述驱动轴之间的相对转动数据，其中，所述地质导向系统中设置有随所述驱动轴同步旋转的随钻测井仪器；
计算设备，与所述第二姿态测量模块和所述转动测量模块电连接，所述计算设备用于获取所述第二姿态测量模块测得的所述准静态平台的重力工具面角和所述转动测量模块测得的相对转动数据，根据获取的所述准静态平台的重力工具面角和相对转动数据计算所述随钻测井仪器的重力工具面角。
由上述地质导向系统的姿态监测装置的结构可知，提出了通过第二姿态测量模块测量准静态平台的重力工具面角，通过转动测量模块测量准静态平台与驱动轴之间的相对 转动数据，进而根据获取的重力工具面角和相对转动数据计算随驱动轴同步旋转的随钻测井仪器的重力工具面角。由于准静态平台相对大地是大体上不旋转的，使得可以获得较为精准的不旋转偏置单元或定向马达定子端的重力工具面角，通过转动测量模块也能避免磁干扰等问题进而获取相对较准确的不旋转偏置单元(或定向马达定子端)与驱动轴之间的相对转动数据，使得基于不旋转偏置单元(或定向马达定子端)的重力工具面角以及不旋转偏置单元(或定向马达定子端)与驱动轴之间的相对转动数据的计算结果可以相对更准确，因此，对于静态偏置旋转地质导向系统、定向马达地质导向系统等地质导向系统，本申请可以获取相对更准确的随驱动轴同步旋转的随钻测井仪器的重力工具面角。
具体实施时，上述地质导向系统的姿态监测装置可以用于静态偏置旋转地质导向系统、定向马达地质导向系统等地质导向系统的姿态监测，当该地质导向系统的姿态监测装置用于静态偏置旋转地质导向系统的姿态监测时，准静态平台为静态偏置旋转地质导向系统中的不旋转偏置单元，驱动轴为静态偏置旋转地质导向系统中的驱动轴，随钻测井仪器为静态偏置旋转地质导向系统中设置的随所述驱动轴同步旋转的随钻测井仪器，上述地质导向系统的姿态监测装置可以视为静态偏置旋转地质导向系统的姿态监测装置；当该地质导向系统的姿态监测装置用于定向马达地质导向系统的姿态监测时，准静态平台为定向马达地质导向系统中的定向马达定子端，驱动轴为定向马达地质导向系统中的驱动轴，随钻测井仪器为定向马达地质导向系统中设置的随所述驱动轴同步旋转的随钻测井仪器，上述地质导向系统的姿态监测装置可以视为定向马达地质导向系统的姿态监测装置。
具体实施时，准静态平台与大地保持相对静止，该相对静止是指：针对静态偏置旋转地质导向系统，由于静态偏置旋转地质导向系统中的导向一般通过设置于不旋转偏置单元外圆周面上的推靠臂或推靠滚轮与井壁抵靠接触，以通过摩擦力限制不旋转偏置单元的旋转，进而使得不旋转偏置单元与大地保持相对静止，即导向时不旋转偏置单元与大地保持相对静止，处于准静态；针对定向马达地质导向系统，在导向时定向马达定子端在其与地层的摩擦力以及钻机转盘止动力等外力作用下与大地保持相对静止，处于准静态。
具体实施时，以上述地质导向系统的姿态监测装置用于静态偏置旋转地质导向系统的姿态监测为例，如图1所示，静态偏置旋转地质导向系统至少包括一个不旋转偏置单元1和从所述不旋转偏置单元1中间穿越设置的驱动轴2，所述驱动轴与钻头保持同等 转速，所述不旋转偏置单元与大地保持相对静止，上述地质导向系统的姿态监测装置设置于静态偏置旋转地质导向系统上，该装置包括：
第二姿态测量模块55，所述第二姿态测量模块55设置于所述不旋转偏置单元1上，用于测量所述不旋转偏置单元1的重力工具面角，所述第二姿态测量模块包括至少一个第二加速度测量子模块，所述第二姿态测量模块中的第二加速度测量子模块至少包含两个可测量不旋转偏置单元径向加速度分量的加速度传感器；
转动测量模块(图1中未示出)，设置于所述不旋转偏置单元1和/或所述驱动轴2上(例如，转动测量模块设置于不旋转偏置单元1上或设置于驱动轴2上，还可以分体设置于所述不旋转偏置单元1和所述驱动轴2上，即转动测量模块包括多部分器件时，一部分器件可以设置于所述不旋转偏置单元1，另一部分器件可以设置于所述驱动轴2上)，所述转动测量模块用于测量所述不旋转偏置单元1与所述驱动轴2之间的相对转动数据，其中，静态偏置旋转地质导向系统中设置有随所述驱动轴2同步旋转的随钻测井仪器3(如图3、图4所示)；具体的，随钻测井仪器3可以采用包括但不限于螺纹连接、插接、耦合连接等方式与驱动轴相连，即随钻测井仪器3可以位于驱动轴2上也可以位于驱动轴2的后方。
计算设备(图1中未示出)，与所述第二姿态测量模块和所述转动测量模块电连接，所述计算设备用于获取所述第二姿态测量模块测得的重力工具面角和所述转动测量模块测得的相对转动数据，根据获取的重力工具面角和相对转动数据计算随所述驱动轴同步旋转的随钻测井仪器3的重力工具面角。
具体实施时，以上述地质导向系统的姿态监测装置用于定向马达地质导向系统的姿态监测为例，如图5、图6、图7所示，定向马达地质导向系统至少包括一个定向马达定子端205和从所述定向马达定子端205中间穿越设置的驱动轴204，所述驱动轴204与钻头201保持同等转速，所述定向马达定子端205与大地保持相对静止，上述地质导向系统的姿态监测装置设置于定向马达地质导向系统上，该装置包括：
第二姿态测量模块55，所述第二姿态测量模块55设置于所述定向马达定子端205上，用于测量所述定向马达定子端205的重力工具面角，所述第二姿态测量模块包括至少一个第二加速度测量子模块，所述第二姿态测量模块中的第二加速度测量子模块至少包含两个可测量定向马达定子端205径向加速度分量的加速度传感器；
转动测量模块210，设置于所述定向马达定子端205和/或所述驱动轴204上(例如，转动测量模块210设置于定向马达定子端205上或设置于驱动轴204上，还可以分 体设置于所述定向马达定子端205和所述驱动轴204上，即转动测量模块包括多部分器件时，一部分器件可以设置于所述定向马达定子端205上，另一部分器件可以设置于所述驱动轴204上)，所述转动测量模块210用于测量所述定向马达定子端205与所述驱动轴204之间的相对转动数据，其中，定向马达地质导向系统中设置有随所述驱动轴204同步旋转的随钻测井仪器202(如图5、图6所示)；具体的，随钻测井仪器202可以采用包括但不限于螺纹连接、插接、耦合连接等方式与驱动轴204相连，即随钻测井仪器202可以位于驱动轴204上也可以位于驱动轴204的后方。
计算设备214，与所述第二姿态测量模块55和所述转动测量模块210电连接，所述计算设备214用于获取所述第二姿态测量模块55测得的重力工具面角和所述转动测量模块210测得的相对转动数据，根据获取的重力工具面角和相对转动数据计算随所述驱动轴同步旋转的随钻测井仪器202的重力工具面角。
具体实施时，上述定向马达定子端205可以是定向马达定子，也可以是定向马达定子固定连接的钻具。
具体实施时，如图5所示，定向马达地质导向系统中驱动轴204为定向马达转子端206至钻头201的钻具之间的区段，驱动轴204与钻头201同等转速并用于驱动钻头201旋转。
具体实施时，无论上述地质导向系统的姿态监测装置用于静态偏置旋转地质导向系统还是定向马达地质导向系统的姿态监测，上述转动测量模块210可以为旋转变压器，该旋转变压器测量所述驱动轴与所述准静态平台间的相对转动角度。具体的，用旋转变压器作为转动测量模块，不易受到干扰且可以获得的测量精度高于其他方式。
具体实施时，无论上述地质导向系统的姿态监测装置用于静态偏置旋转地质导向系统还是定向马达地质导向系统的姿态监测，上述转动测量模块210可以包括磁体(该磁体可以是永磁体或者是电磁体)和磁场传感器，所述磁场传感器用于测量所述磁体的磁场，随着所述驱动轴(例如，静态偏置旋转地质导向系统中的驱动轴2或定向马达地质导向系统中驱动轴204)的旋转，将所述磁场传感器感应到所述磁体产生的磁场达到预设强度的时刻作为对标时刻，即当所述磁场传感器测量到所述磁体的磁场达到预设强度时，表明驱动轴已经转过一个周期，其中，所述磁体设置在所述驱动轴的中心轴上，同时所述磁场传感器设置在所述准静态平台上；或者，所述磁场传感器设置在所述驱动轴的中心轴上，同时所述磁体设置在所述准静态平台上(例如，如图6所示，以上述地质导向系统的姿态监测装置用于定向马达地质导向系统的姿态监测为例，磁场传感器210- 1设置在所述驱动轴204的中心轴上，同时所述磁体210-2设置在所述定向马达定子端205上，此外，也可以磁体210-2设置在所述驱动轴204的中心轴上，磁场传感器210-1设置在所述定向马达定子端205上)。
具体实施时，当所述转动测量模块包括磁体和磁场传感器时，所述计算设备通过以下方式计算随钻测井仪器(例如，该随钻测井仪器可以是静态偏置旋转地质导向系统中的随所述驱动轴2同步旋转的随钻测井仪器3或定向马达地质导向系统中随所述驱动轴204同步旋转的随钻测井仪器202)的重力工具面角：
在所述对标时刻a，记录所述第二姿态测量模块测得的所述准静态平台的重力工具面角β，将所述准静态平台的重力工具面角β作为所述驱动轴的重力工具面角，并将所所述准静态平台的重力工具面角β附加上所述随钻测井仪器与所述述驱动轴在所述对标时刻的结构角度差γ，将该附加结果α(即β+γ＝α)作为所述随钻测井仪器在所述对标时刻a的重力工具面角，可以将任意一次对标时刻ai的随钻测井仪器的重力工具面角记为αi；在非对标时刻的任意时刻t，将所述准静态平台的重力工具面角β附加上所述随钻测井仪器从该任意时刻前的任意一次对标时刻ai至该任意时刻t转过的相对转角w得到第一附加结果(即β+w)将该第一附加结果(即β+w)作为所述驱动轴在该任意时刻t的重力工具面角，将所述驱动轴在该任意时刻t的重力工具面角附加上所述随钻测井仪器与所述驱动轴的结构角度差γ得到第二附加结果(即β+w+γ)，将该第二附加结果(即β+w+γ)作为所述随钻测井仪器在该任意时刻t的重力工具面角，其中，所述结构角度差γ为所述随钻测井仪器的工具面角与所述驱动轴的工具面角之间的角度差。
具体的，所述磁场传感器可以采用霍尔传感器在内的任意一种磁场传感器。所述磁体可以采用电磁铁、磁钢在内的任意一种磁体。
具体实施时，所述相对转角w可以由驱动轴转速乘以时间间隔计算得到，也可以由角速度传感器直接测得，例如，上述地质导向系统的姿态监测装置还可以包括，角速度传感器，设置于所述驱动轴上或设置于所述驱动轴上方的任意井下仪器(例如随钻测井仪器)中，所述角速度传感器用于测量所述随钻测井仪器的旋转角速度，通过随钻测井仪器的旋转角速度乘以任意时刻前的任意一次对标时刻至该任意时刻之间的时长，即可得出随钻测井仪器从该任意时刻前的任意一次对标时刻至该任意时刻转过的相对转角w。
具体的，上述角速度传感器可以采用陀螺仪。
具体实施时，当上述地质导向系统的姿态监测装置包括角速度传感器时，所述角速度传感器随所述驱动轴(例如，该驱动轴可以是静态偏置旋转地质导向系统中的驱动轴2或定向马达地质导向系统中驱动轴204)旋转，用于测量所述随钻测井仪器的旋转角速度，此时，上述计算设备通过以下方式计算随钻测井仪器(例如，该随钻测井仪器可以是静态偏置旋转地质导向系统中的随所述驱动轴2同步旋转的随钻测井仪器3或定向马达地质导向系统中随所述驱动轴204同步旋转的随钻测井仪器202)的重力工具面角：
在所述对标时刻a，记录所述第二姿态测量模块测得的所述准静态平台的重力工具面角β，将所述准静态平台的重力工具面角β作为所述驱动轴的重力工具面角，并将所所述准静态平台的重力工具面角β附加上所述随钻测井仪器与所述述驱动轴在所述对标时刻的结构角度差γ，将该附加结果α(即β+γ＝α)作为所述随钻测井仪器在所述对标时刻a的重力工具面角，可以将任意一次对标时刻ai的随钻测井仪器的重力工具面角记为αi；在非对标时刻的任意时刻t，根据角速度传感器测得的随钻测井仪器的旋转角速度计算出所述随钻测井仪器从该任意时刻前的任意一次对标时刻ai至该任意时刻t转过的相对转角w，将所述准静态平台的重力工具面角β附加上相对转角w得到第一附加结果(即β+w)将该第一附加结果(即β+w)作为所述驱动轴在该任意时刻t的重力工具面角，将所述驱动轴在该任意时刻t的重力工具面角附加上所述随钻测井仪器3与所述驱动轴的结构角度差γ得到第二附加结果(即β+w+γ)，将该第二附加结果(即β+w+γ)作为所述随钻测井仪器在该任意时刻t的重力工具面角，其中，所述结构角度差γ为所述随钻测井仪器的工具面角与所述驱动轴的工具面角之间的角度差。
具体实施时，在本实施例中，还可以更便捷地计算随钻测井仪器(例如，该随钻测井仪器可以是静态偏置旋转地质导向系统中的随所述驱动轴2同步旋转的随钻测井仪器3或定向马达地质导向系统中随所述驱动轴204同步旋转的随钻测井仪器202)的重力工具面角：
所述转动测量模块210包括至少两个磁体和至少一个磁场传感器，所述磁场传感器用于测量所述磁体的磁场，其中，至少两个所述磁体沿准静态平台的径向设置在所述准静态平台上且相邻两个磁体互成预设夹角，至少一个所述磁场传感器设置在所述驱动轴上；或者，至少两个所述磁体沿驱动轴的径向设置在所述驱动轴上且相邻两个磁体互成预设夹角，至少一个所述磁场传感器设置在所述准静态平台上；
所述计算设备，还用于在任意时刻根据所述磁场传感器测得的所述磁体的磁场强度计算所述准静态平台与所述驱动轴之间的相对角，将所述相对角附加上在该任意时刻所 述第二姿态测量模块测得的所述准静态平台的重力工具面角得到第三附加结果，将该第三附加结果作为所述驱动轴在该任意时刻的重力工具面角，将所述驱动轴在该任意时刻的重力工具面角附加上所述随钻测井仪器与所述驱动轴的结构角度差得到第四附加结果，将该第四附加结果作为所述随钻测井仪器的重力工具面角。
具体实施时，上述结构角度差是指由于安装的基准面不同，而导致的各个电路模块的工具面基准面之间的角度差距。
具体实施时，为了可以获取准确的驱动轴与所述随钻测井仪器的结构角度差，在本实施例中，通过以下方式测取驱动轴与所述随钻测井仪器的结构角度差：
上述地质导向系统的姿态监测装置还包括：
第一姿态测量模块，设置于所述驱动轴上(例如，以上述地质导向系统的姿态监测装置用于定向马达地质导向系统为例，如图5、图6所示，第一姿态测量模块203可以设置于定向马达地质导向系统的驱动轴204上；以上述地质导向系统的姿态监测装置用于静态偏置旋转地质导向系统为例，则第一姿态测量模块203可以设置于静态偏置旋转地质导向系统的驱动轴2上)，所述第一姿态测量模块至少包括第一加速度测量子模块，其中，所述第一加速度测量子模块用于测量钻柱在静态下时所述驱动轴的重力工具面角；
第三加速度测量子模块，设置于所述钻测井仪器内，所述第三加速度测量子模块用于测量钻柱在静态下时所述随钻测井仪器的重力工具面角；
所述计算设备，还用于计算钻柱在静态下时所述驱动轴的重力工具面角和钻柱在静态下时所述随钻测井仪器的重力工具面角之间的角度差值，该角度差值为所述驱动轴与所述随钻测井仪器的结构角度差γ。本实施例设置的意义在于通过阵列化的姿态测量，补偿各个电路模块由于安装或者丝扣错位导致的结构角度差。
具体的，上述计算设备可以设置在地质导向系统的姿态监测装置中，也可以设置在地质导向系统的姿态监测装置之外。
具体实施时，对于静态偏置旋转地质导向系统，如图1所示，静态偏置旋转地质导向系统的驱动轴2与不旋转偏置单元1通过第一扶正轴承83和第二扶正轴承82保持同轴连接，驱动轴与不旋转偏置单元1通过第一止推轴承84和第二止推轴承81实现悬挂连接。
具体实施时，上述静态偏置旋转地质导向系统可以包含静态推靠式旋转导向系统、静态指向式旋转导向系统、静态混合式旋转导向系统等静态偏置旋转导向系统工具。
具体实施时，上述地质导向系统的姿态监测装置用于定向马达地质导向系统时，所述第一姿态测量模块可以通过位于其上部和下部的两个扶正结构保证其所在的承压壳体161与外管体同轴，第一姿态测量模块所在电路骨架固定于承压壳体161内部，因此第一姿态测量模块与承压壳体161同轴。所述扶正结构可以是扶正器、流道转换器178等能在承压壳体161和外管体之间起到扶正作用的结构。例如，如图1所示，采用的第二扶正结构就是第二扶正器166，扶正器166与柔性节的接触点在柔性段的下起始点处。而第一扶正结构可以是如图1所示的第一扶正器165，也可以是流道转换器178。
具体实施时，上述地质导向系统的姿态监测装置用于定向马达地质导向系统时，所述第一姿态测量模块可以包括至少一套第一加速度测量子模块，可利用第一加速度测量子模块中的加速度计对井斜角和/或驱动轴2的重力工具面角进行测量，所述第一姿态测量模块设置于承压壳体161内，所述承压壳体161设置于钻具的内部流道中，所述承压壳体161与钻具外壁采用扶正结构支撑，所述钻具外壁可以是柔性节外壳也可以是驱动轴外壳。
具体实施时，上述地质导向系统的姿态监测装置用于定向马达地质导向系统时，如图1所示，第一姿态测量电路152可以承载第一加速度测量子模块的分析电路。
具体实施时，上述地质导向系统的姿态监测装置用于定向马达地质导向系统时，如图1所示，所述第一姿态测量模块可以设置于旋转导向的芯轴轴线上，例如，可以设置于柔性节内部但在柔性段下方的位置，如图4所示，柔性节设置在不旋转偏置单元下方，图4中B所示区段为柔性节(例如，柔性节区段可以采用一段直径小于不旋转偏置单元的低刚度过钻杆实现)，柔性段是柔性节上外直径比所述驱动轴上旋转部21的外直径小75％的区段，或者柔性段是所述柔性节上惯性矩比不旋转偏置单元的惯性矩小60％的区段，本申请发明人发现，在柔性节上惯性矩比不旋转偏置单元的惯性矩小60％的区段的范围内，钻柱刚度不会发生过大的变化。第一姿态测量模块具体可以设置于承压壳体161内，承压壳体161与柔性节柔性段下方的任意位置采用扶正结构进行同轴扶正，例如，承压壳体161上端设置有多个第二扶正器166和承压壳体161下端设置有多个第一扶正器165，第一姿态测量模块所在的承压壳体161上部的第一个第二扶正器166可以设置在柔性段下起始点上方300毫米以下的位置，第一姿态测量模块所在的承压壳体161下部的第一个第一扶正器165可以设置于不旋转偏置单元的上方。
具体实施时，上述地质导向系统的姿态监测装置用于定向马达地质导向系统时，第一姿态测量模块所在的承压壳体161下部也可以仅设置一个第一扶正器165，以便于第一姿态测量模块所在的承压壳体161从柔性节上部插入。
具体实施时，第二扶正器166和第一扶正器165可以为橡胶减震扶正器，也可以是包裹橡胶的扶正器或者是橡胶材料制作的扶正器。
具体实施时，上述地质导向系统的姿态监测装置用于定向马达地质导向系统时，第一姿态测量模块中的加速度传感器151(即第一加速度测量子模块)可以设置于承压壳体161上部的第一个第二扶正器166和承压壳体161下部的第一个第一扶正器156之间的任意位置上。
具体实施时，所述第二姿态测量模块55中的所述第二加速度测量子模块包括三个加速度传感器时，该三个加速度传感器两两正交安装。当所述第二姿态测量模块55中的所述第二加速度测量子模块包括三个加速度传感器时，一般相互正交安装，且沿着准静态平台(例如，不旋转偏置单元1或定向马达定子端205)径向方向安装。
具体的，第二加速度测量子模块包括三个加速度传感器时，其中2个加速度传感器沿准静态平台的径向安装，第三个加速度传感器沿准静态平台的轴向安装。第二加速度测量子模块包括三个以上的加速度传感器时，其中2个加速度传感器沿准静态平台的径向安装，第三个加速度传感器沿准静态平台的轴向安装，其余的加速度传感器的安装需要于前三个加速度传感器均保持一定的角度间隔进行安装，用于辅助测量。
具体实施时，上述加速度传感器可以为挠性石英加速度传感器、压阻式微机械加速度传感器或电容式微机械加速度传感器。做为优选，第二姿态测量模块既可用于测量准静态平台在振动条件下的重力工具面角，也可用于测量动态井斜。
具体实施时，静态偏置旋转地质导向系统中的所述静态偏置旋转导向中可以包括3-4个液压系统，所述3-4个液压系统沿周向布置于不旋转偏置单元1的外侧，所述液压系统包括液压动力模块4和液压模块驱动电路54；在导向作业期间，主控电路会根据第二姿态测量模块55的测量结果标定各个液压模块工具面角度，进而通过对液压模块进行调整，使各个液压模块产生的推力的合力朝向需求导向的方向。
具体实施时，静态偏置旋转地质导向系统中主控电路、液压模块驱动电路54和第二姿态测量模块55可以沿周向成环状布置于不旋转偏置单元1上。
具体实施时，为了提高测量准静态平台的工具面的精度，在本实施例中，所述第二姿态测量模块55，还包括：
至少一套角速度测量设备，用于测量地质导向系统的所述准静态平台以导向单元轴线为中心旋转的角速度，其中，所述角速度用于辅助加速度测量子模块测得重力工具面角。具体的，所述角速度测量子模块可以采用单轴、双轴或三轴的陀螺仪。
具体实施时，为了提高测量准静态平台的工具面的精度，在本实施例中，所述第二姿态测量模块55，还包括：至少一套磁场强度测量子模块，用于测量地质导向系统的所述准静态平台的磁工具面。
具体实施时，在现有技术中，由于导向单元在停钻期间无法获得有效的电力供应，导向单元处的井斜角只能在振动条件下测量，导致旋转导向难以获得精确的近钻头井斜角以及近钻头方位角，为了实现旋转导向的高精度近钻头测量，需确保在关泵、开泵期间都可以测量导向单元的姿态，在本实施例中，所述静态偏置旋转地质导向系统(例如柔性节上部)设置有井下涡轮发电机，在地质导向系统的姿态监测装置用于所述静态偏置旋转地质导向系统时，所述第一姿态测量模块使用所述静态偏置旋转地质导向系统中的井下涡轮发电机和/或蓄电装置162来供电，所述蓄电装置162可以为电池或耐高温电容。
具体的，当井下涡轮发电机工作时，井下涡轮发电机可以通过总线为蓄电装置162充电，可以采用蓄电装置162和/或井下涡轮发电机为第一姿态测量模块供电，其中，井下涡轮发电机和蓄电装置162可以通过总线为旋转导向中的各个用电器供电。当井下涡轮发电机停止供电期间，由蓄电装置162为第一姿态测量模块供电，一般在接单根过程中井下涡轮发电机停止供电。例如，在泥浆泵开泵期间可以采用井下涡轮发电机为第一姿态测量模块供电，也可以采用发电机和蓄电装置162交替为第一姿态测量模块；在泥浆泵关泵期间可以采用蓄电装置162为第一姿态测量模块供电。
具体的，上述电池可以为耐温125摄氏度以上的充电电池或一次性电池。
具体实施时，当所述蓄电装置162为井下耐高温电容或耐高温充电电池时，所述耐高温电容或耐高温充电电池与第一姿态测量模块及随钻测井仪器3中的第三加速度测量子模块电连接，所述电连接方法可以是井下耐高温电容或耐高温充电电池与第一姿态测量模块直接相连，或者通过连接总线实现与第一姿态测量模块的电连接，采用所述井下涡轮发电机工作时，所述井下涡轮发电机通过总线为所述耐高温电容或耐高温充电电池充电，并在所述井下涡轮发电机不工作时，采用所述耐高温电容或耐高温充电电池可为第一姿态测量模块及随钻测井仪器3中的第三加速度测量子模块供电；
当所述蓄电装置162为不可充电电池时，采用所述电池通过电流流向控制器与所述总线连接，所述电流流向控制器仅允许电流由所述电池流向所述总线，采用所述不可充电电池通过所述总线为所述第一姿态测量模块及随钻测井仪器3中的第三加速度测量子模块供电，具体的，所述电流流线控制器可以是电路控制开关，也可以是二极管或类似功能的电子元器件。
具体实施时，上述蓄电装置162可以采用，例如，锂电池、镍氢电池、镍镉电池、耐高温电容组等。
具体实施时，如图2、图4所示，所述静态偏置旋转地质导向系统设置有总线，所述总线设置在中心管143中，所述中心管143设置在柔性节中，所述总线将井下涡轮发电机的电能发送给所述第一姿态测量模块及随钻测井仪器3中的第三加速度测量子模块进行供电。所述中心管143与第一姿态测量模块外侧的承压壳体161相连接，所述总线可从两侧绕过第一姿态测量模块与能量传输模块输出端控制电路118连接，能量传输模块输出端控制电路118将发电机的电能输送给所述第二姿态测量模块55进行供电。具体的，所述电池可以设置于中心管内，所述中心管143是设置于柔性节内部的承压管体，可以是任意直径的承压管体，也可以是直径较小的仅能过线的过线杆。
具体实施时，为了实现为第一姿态测量模块供电，在本实施例中，如图1所示，所述井下涡轮发电机与过线杆中的数据线177连接，过线杆中的数据线177将发电机的电能发送给所述第一姿态测量模块进行供电，过线杆中的数据线177与能量传输模块输出端控制电路118连接，能量传输模块输出端控制电路118将发电机的电能发送给所述第二姿态测量模块55进行供电。
具体的，在井下涡轮发电机可以供电期间(例如，涡轮发电机的供电电压可以是48福特)，电力从涡轮发电机接入，通过过线杆中的数据线177向旋转导向系统进行供电。例如，过线杆中的数据线将发电机的电能发送给所述第一姿态测量模块进行供电，过线杆中的数据线中的电力通过流道转换器178、驱动轴电路骨架119中的能量传输模块输出端控制电路118，进一步的控制驱动轴上的能量传输模块输出端51传递电力给设置于不旋转偏置单元1上的能量传输模块接收端52，进而将电力供应给不旋转偏置单元1上设置的电路(例如第二姿态测量模块55)使用。进一步的在第二姿态测量模块55的控制下，电机控制模块54会将大部分电力分配给电动机42使用，用于驱动液压泵41，并通过液压活塞14使钻具发生偏置。具体的偏置方法可以使通过活塞总成驱动翼肋10 推靠井壁，也可以是指向式偏置或者混合式偏置等其他静态偏置旋转导向的偏置执行机构。
具体实施时，所述总线与能量传输模块输出端控制电路118连接，能量传输模块输出端控制电路118将井下涡轮发电机的电能通过能量传输模块输出端输送给所述不旋转偏置单元1进行供电；上述地质导向系统的姿态监测装置包括第一开关元件，第一开关元件设置于总线至能量传输模块输出端之间的任意位置上，例如，可以在能量传输模块输出端控制电路118或传输模块输出端控制电路118所在短节的总线电力管理电路上设置第一开关元件；第一开关元件接收触发信号并根据所述触发信号切断或恢复所述不旋转偏置单元1的供电。
具体的，触发信号可以来自于第一开关元件的上位机，该上位机可以是井下旋转导向系统的任意控制电路或者地面的控制仪器。例如，井下涡轮发电机和电池可以通过总线为旋转导向中的各个用电器供电，在电池供电期间，旋转导向系统控制电路可以通过发电机转速或者总线电压变化等方式判断发电机的工作状态，来控制第一开关元件的断开和闭合，进而通过第一开关元件来切断或恢复不旋转偏置单元的供电，以节省电池的能量。
具体实施时，上述地质导向系统的姿态监测装置用于静态偏置旋转地质导向系统时，上述地质导向系统的姿态监测装置还包括：
第二开关元件，设置在所述不旋转偏置单元1的能量传输模块接收端51和液压模块电机驱动电路54之间，第二开关元件用于接收所述总线的指令，并根据所述指令断开或连通所述能量传输模块接收端51至所述液压模块电机驱动电路54之间的供电。以便在电池为旋转导向中的各个用电器供电期间，可以通过第二开关元件实现对液压系统的断电，以节省电池的能量。
具体的，上述第二开关元件可以设置于不旋转偏置单元1中包括主控电路在内的任意位置。所述主控电路负责根据导向力的方向，将导向力进行分解，并控制各个液压系统实现旋转导向的偏置，所述实现旋转导向偏置的方法可以是将偏置力传递至井壁实现导向，也可以是将偏置力传递至驱动轴，通过迫使驱动轴发生挠曲实现导向，也可以是上述两种方法的结合。所述主控电路、液压模块电机驱动电路沿周向设置于不旋转偏置单元内。
具体实施时，为了进一步避免钻井工况下柔性节的挠性变形导致中心管143发生挠曲并进一步的影响第一姿态测量模块的测量精度，在本实施例中，如图1、图2所示， 上述静态偏置旋转地质导向系统还包括：柔性管体142，静态偏置旋转导向的钻柱内部设置有承压壳体161，所述第一姿态测量模块设置于所述承压壳体161内，所述旋转导向系统设置有用于传输电力的总线，所述总线设置在中心管143中，所述中心管143和所述第一姿态测量模块外侧的承压壳体161之间设置有所述柔性管体142。具体的，柔性管体142的使用，使得探管总成具有柔性，使第一姿态测量模块不会因柔性节的挠性变形而发生形变，有利于增加了第一姿态测量模块于导向单元的同轴度，有利于实现了第一姿态测量模块高精度的静态下的近钻头测量。
具体实施时，所述第二姿态测量模块55包括至少两个第二加速度测量子模块时，其中，一个第二加速度测量子模块设置为备用，其他第二加速度测量子模块设置为主用，上述地质导向系统的姿态监测装置还包括：
分析电路，用于根据所述第二姿态测量模块55中每套第二加速度测量子模块的测量结果来确定每个第二加速度测量子模块的信任程度。
具体的，所述加速度测量子模块可以包括相互垂直布置的双轴加速度传感器或两两相互垂直布置的多轴的加速度传感器。
具体的，分析电路根据每套第二加速度测量子模块的测量结果来确定每个第二加速度测量子模块的信任程度。例如，根据每套第二加速度测量子模块的测量结果来为每个第二加速度测量子模块设置一个加权值，该加权值表示信任程度，一般情况下，如第二加速度测量子模块C中有加速度传感器恰好处于近零状态或者异常强烈振动状态时，分析电路会选择不信任这个第二加速度测量子模块C，将信任程度设为0；或者降低该第二加速度测量子模块C的信任程度。或者例如，当某一加速度测量子模块无数据输出或输出数据明显有误时，那个该第二加速度测量子模块的信任值就是0，而另一套加速度测量子模块的信任之就是100％。
具体实施时，第二姿态测量模块55包括两套第二加速度测量子模块，两套第二加速度测量子模块中的一套第二加速度测量子模块采用石英加速度计作为加速度传感器，另一套第二加速度测量子模块采用微机械加速度计作为加速度传感器。使得同时利用了石英加速度计精度高的优势和微机械加速度计量程大且不易损坏的优势。
具体实施时，分析电路根据每套第二加速度测量子模块的信任程度对上述两套第二加速度测量子模块测量得到的重力工具面角数据进行加权，进而计算出最终的重力工具面角。
例如，当石英加速度传感器正常工作时，配备石英加速度传感器的加速度测量子模块的信任之可以是100％或者是大于50％的任意值，而当强烈震动导致石英加速度传感器无法输出准确值时，则在原有基础上降低对石英加速度传感器的信任值。
具体实施时，所述地质导向系统的姿态监测装置用于静态偏置旋转地质导向系统时，所述第一姿态测量模块设置于承压壳体161内，所述承压壳体161设置于钻具的内部流道中，所述承压壳体161与钻具外壁之间采用扶正器支撑，所述钻具外壁可以是柔性节外壳也可以是驱动轴外壳。
具体实施时，在钻进期间，可以依靠上述第二姿态测量模块55测量的准静态平台中的工具面向需要导向的方向施加导向力。
具体实施时，钻进期间的工具姿态或井眼轨迹的动态监测方法：
(1)依靠特定型号旋转导向合推力、机械钻速与井眼轨迹变化特性之间的关系对导向单元的姿态或井眼轨迹的变化进行预测。
(2)与(1)并列的，还可以依靠监测旋转导向第一扶正器至柔性段或钻头至第一扶正器间任意位置相对井眼的偏心距来实现旋转导向姿态或井眼轨迹的动态监测。
在钻柱静止期间，读取第一姿态测量模块测得的静态姿态数据，对旋转导向近钻头姿态或井眼轨迹进行监测和验证，一般情况下第一姿态测量模块是在接单根期间完成静态条件下的姿态测量，测得的静态姿态数据可以是井斜角、方位角中的任意一种或组合。
具体实施时，可以通过不继续送钻和停止旋转钻柱的方式消除钻头破岩带来的井下振动，在钻头停止切削的状态下利用第一姿态测量模块或第二姿态测量模块55中的任意之一或组合的工具姿态参数来监测近钻头工具姿态。
具体实施时，为了更好的实现精准的轨迹测量，需要更好的保障第一姿态测量模块与导向单元的同轴度，在本实施例中，所述地质导向系统的姿态监测装置用于静态偏置旋转地质导向系统时，承载第一姿态测量模块的承压壳体161与驱动轴电路骨架119之间通过流道转换器178来固定连接，使承压壳体161内部的第一姿态测量模块可与驱动轴电路骨架119内部的其他电路轻易的实现电连接，例如，当驱动轴电路骨架119成环状设置时，所述承压壳体161通过流到转换器178与驱动轴电路骨架119实现固定连接，在这种情况下，所述流到转换器178就可以作为第一姿态测量模块下方的第一扶正结构，所述第一姿态测量模块可与驱动轴电路骨架119内部的电路可实现电连接。由于承压壳体161与其外部钻柱相对位置固定，中心管与柔性节相对位置固定，因此当承压 壳体161外部钻柱与柔性节间上卸扣时，承载第一姿态测量模块的承压壳体161与中心管143需采用可发生相对旋转和轴向滑动的插接方式进行连接，所述承压壳体161与中心管143间的插接处可以采用单芯插针、同轴双芯插针、同轴多芯插针以及电滑环中的任意一种或任意组合来实现插接处上部电路和插接处下部电路的电连接。
基于同一发明构思，本发明实施例中还提供了一种地质导向系统的姿态监测方法，如下面的实施例所述。由于地质导向系统的姿态监测方法解决问题的原理与地质导向系统的姿态监测装置相似，因此地质导向系统的姿态监测方法的实施可以参见地质导向系统的姿态监测装置的实施，重复之处不再赘述。
图8是本发明实施例的地质导向系统的姿态监测方法的一种流程图，该地质导向系统的姿态监测方法适用的地质导向系统至少包括一个准静态平台和从所述准静态平台中间穿越设置的驱动轴，所述驱动轴与钻头保持同等转速，所述准静态平台与大地保持相对静止，所述准静态平台为静态偏置旋转地质导向系统中的不旋转偏置单元或定向马达地质导向系统中的定向马达定子端，如图8所示，该方法包括：
步骤802：在所述准静态平台上设置第二姿态测量模块，采用所述第二姿态测量模块测量所述准静态平台的重力工具面角，其中，所述第二姿态测量模块包括至少一个第二加速度测量子模块，所述第二姿态测量模块中的第二加速度测量子模块至少包含两个可测量所述准静态平台径向加速度分量的加速度传感器；
步骤804：采用转动测量模块测量所述准静态平台与所述驱动轴之间的相对转动数据，其中，所述地质导向系统中设置有随所述驱动轴同步旋转的随钻测井仪器；
步骤806：获取所述第二姿态测量模块测得的重力工具面角和所述转动测量模块测得的相对转动数据，根据获取的重力工具面角和相对转动数据计算随所述驱动轴同步旋转的随钻测井仪器的重力工具面角。
在一个实施例中，所述转动测量模块为旋转变压器。
在一个实施例中，所述转动测量模块包括磁体和磁场传感器，所述磁场传感器用于测量所述磁体的磁场，随着所述驱动轴的旋转，将所述磁场传感器感应到所述磁体产生的磁场达到预设强度的时刻作为对标时刻，其中，所述磁体设置在所述驱动轴的中心轴上，所述磁场传感器设置在所述准静态平台上，或者，所述磁场传感器设置在所述驱动轴的中心轴上，所述磁体设置在所述准静态平台上；根据获取的重力工具面角和相对转动数据计算随所述驱动轴同步旋转的随钻测井仪器的重力工具面角，包括：
在所述对标时刻，记录所述第二姿态测量模块测得的所述准静态平台的重力工具面角，将所述准静态平台的重力工具面角作为所述驱动轴的重力工具面角，并将所述准静态平台的重力工具面角附加上所述随钻测井仪器与所述驱动轴在所述对标时刻的结构角度差，将该附加结果作为所述随钻测井仪器在所述对标时刻的重力工具面角；在非对标时刻的任意时刻，将所述准静态平台的重力工具面角附加上所述随钻测井仪器从该任意时刻前的任意一次对标时刻至该任意时刻转过的相对转角得到第一附加结果，将该第一附加结果作为所述驱动轴在该任意时刻的重力工具面角，将所述驱动轴在该任意时刻的重力工具面角附加上所述随钻测井仪器与所述驱动轴的结构角度差得到第二附加结果，将该第二附加结果作为所述随钻测井仪器在该任意时刻的重力工具面角。
在一个实施例中，在所述驱动轴上或所述驱动轴上方的任意井下仪器上设置角速度传感器，通过所述角速度传感器于测量所述随钻测井仪器的旋转角速度。
在一个实施例中，所述转动测量模块包括至少两个磁体和至少一个磁场传感器，所述磁场传感器用于测量所述磁体的磁场，其中，至少两个所述磁体沿准静态平台的径向设置在所述准静态平台上且相邻两个磁体互成预设夹角，至少一个所述磁场传感器设置在所述驱动轴上；或者，至少两个所述磁体沿驱动轴的径向设置在所述驱动轴上且相邻两个磁体互成预设夹角，至少一个所述磁场传感器设置在所述准静态平台上；根据获取的准静态平台的重力工具面角和相对转动数据计算随所述驱动轴同步旋转的随钻测井仪器的重力工具面角，包括：
在任意时刻根据所述磁场传感器测得的所述磁体的磁场强度计算所述准静态平台与所述驱动轴之间的相对角，将所述相对角附加上在该任意时刻所述第二姿态测量模块测得的所述准静态平台的重力工具面角得到第三附加结果，将该第三附加结果作为所述驱动轴在该任意时刻的重力工具面角，将所述驱动轴在该任意时刻的重力工具面角附加上所述随钻测井仪器与所述驱动轴的结构角度差得到第四附加结果，将该第四附加结果作为所述随钻测井仪器的重力工具面角。
在一个实施例中，还包括：
在所述驱动轴上设置第一姿态测量模块，所述第一姿态测量模块至少包括第一加速度测量子模块，通过所述第一加速度测量子模块测量钻柱在准静下时所述驱动轴的重力工具面角；
在所述钻测井仪器内设置第三加速度测量子模块，通过所述第三加速度测量子模块测量钻柱在静态下时所述随钻测井仪器的重力工具面角；
计算钻柱在静态下时所述驱动轴的重力工具面角和钻柱在静态下时所述随钻测井仪器的重力工具面角之间的角度差值，该角度差值为所述驱动轴与所述随钻测井仪器的结构角度差。
在一个实施例中，所述第二姿态测量模块中的所述第二加速度测量子模块包括三个加速度传感器时，该三个加速度传感器两两正交安装。
在一个实施例中，所述第二姿态测量模块，还包括：
至少一套角速度测量子模块，通过所述角速度测量子模块测量地质导向系统的所述准静态平台以导向单元轴线为中心旋转的角速度，其中，所述角速度用于辅助所述加速度测量子模块测得重力工具面角。
在一个实施例中，所述第二姿态测量模块，还包括：
至少一套磁场强度测量子模块，通过所述磁场强度测量子模块测量所述准静态平台的磁工具面。
在一个实施例中，还包括：
在所述静态偏置旋转地质导向系统上设置有井下涡轮发电机，在地质导向系统的姿态监测装置用于所述静态偏置旋转地质导向系统时，使用所述静态偏置旋转地质导向系统中的井下涡轮发电机和/或蓄电装置来为所述第一姿态测量模块供电，所述蓄电装置为电池或耐高温电容。
在一个实施例中，使用所述旋转导向系统中的井下涡轮发电机和/或蓄电装置来为所述第一姿态测量模块供电，包括：
当所述蓄电装置为井下耐高温电容或耐高温充电电池时，所述耐高温电容或耐高温充电电池与第一姿态测量模块电连接，所述井下涡轮发电机通过总线为所述耐高温电容或耐高温充电电池充电，并在所述井下涡轮发电机不工作时，所述耐高温电容或耐高温充电电池为第一姿态测量模块及所述第三加速度测量子模块供电；
当所述蓄电装置为不可充电电池时，所述电池通过电流流向控制器与所述总线连接，所述电流流向控制器仅允许电流由所述电池流向所述总线，所述不可充电电池通过所述总线为所述第一姿态测量模块及所述第三加速度测量子模块供电。
在一个实施例中，所述静态偏置旋转地质导向系统的所述总线设置在中心管中，所述中心管设置在柔性节中，所述总线将所述井下涡轮发电机的电能发送给所述第一姿态测量模块及第三加速度测量子模块进行供电。
在一个实施例中，将所述总线与能量传输模块输出端控制电路连接，所述能量传输模块输出端控制电路将所述井下涡轮发电机的电能通过能量传输模块输出端输送给所述不旋转偏置单元进行供电，所述地质导向系统的姿态监测方法还包括：
在所述能量传输模块输出端至总线之间的任意位置上设置第一开关元件，通过所述第一开关元件接收触发信号，并根据所述触发信号切断或恢复不旋转偏置单元的供电。具体的，所述触发信号可以由旋转导向系统控制电路发出，当发电机停止工作后，所述旋转导向系统控制电路使电池为总线供电并同时通过第一开关元件断开不旋转偏置单元的供电。或者也可由地面控制仪器通过下传指令的方式下传触发信号切断不旋转偏置单元的供电。
在一个实施例中，还包括：
在所述不旋转偏置单元的能量传输模块接收端和液压模块电机驱动电路之间设置第二开关元件，通过所述第二开关元件接收所述总线的指令，并根据所述指令断开或连通所述能量传输模块接收端至所述液压模块电机驱动电路之间的供电。
例如，在一个实施例中，设置于不旋转偏置单元上的液压系统由主控电路进行控制，所述主控电路通过对所述第二开关元件进行控制，进而使液压系统停止工作或恢复工作，然而主控电路仍然是接收到触发信号后根据触发信号的指令对所述第二开关元件进行控制来使液压系统的启动和停止，该触发信号可以由旋转导向系统控制电路发出，也可由地面控制仪器通过下传指令的方式下传触发信号。
在一个实施例中，还包括：
静态偏置旋转地质导向系统的钻柱内部设置有承压壳体，所述第一姿态测量模块设置于所述承压壳体内，所述总线设置在中心管中，在中心管和所述第一测量模块外侧的承压壳体之间设置柔性管体。
在一个实施例中，所述第二姿态测量模块包括至少两个第二加速度测量子模块时，其中，一个第二加速度测量子模块设置为备用，其他第二加速度测量子模块设置为主用，所述地质导向系统的姿态监测方法还包括：
通过分析电路根据所述第二姿态测量模块中每个第二加速度测量子模块的测量结果来确定每个第二加速度测量子模块的信任程度。
在一个实施例中，第二姿态测量模块包括两套第二加速度测量子模块，该两套第二加速度测量子模块中的一套第二加速度测量子模块采用石英加速度计作为加速度传感器，另一套第二加速度测量子模块采用微机械加速度计作为加速度传感器。
在一个实施例中，所述地质导向系统的姿态监测装置用于静态偏置旋转地质导向系统时，承载所述第一姿态测量模块的承压壳体与驱动轴电路骨架之间通过流道转换器固定连接，承载所述第一姿态测量模块的承压壳体与中心管之间采用插接的连接方式。
本发明实施例实现了如下技术效果：提供了一种地质导向系统的姿态监测装置，该地质导向系统的姿态监测装置可以用于静态偏置旋转地质导向系统、定向马达地质导向系统等地质导向系统的姿态监测，当该地质导向系统的姿态监测装置用于静态偏置旋转地质导向系统的姿态监测时，准静态平台为静态偏置旋转地质导向系统中的不旋转偏置单元，驱动轴为静态偏置旋转地质导向系统中的驱动轴；当该地质导向系统的姿态监测装置用于定向马达地质导向系统的姿态监测时，准静态平台为定向马达地质导向系统中的定向马达定子端，驱动轴为定向马达地质导向系统中的驱动轴，具体的，提出了通过第二姿态测量模块测量准静态平台的重力工具面角，通过转动测量模块测量准静态平台与驱动轴之间的相对转动数据，进而根据获取的重力工具面角和相对转动数据计算随驱动轴同步旋转的随钻测井仪器的重力工具面角。由于准静态平台相对大地是大体上不旋转的，使得可以获得较为精准的不旋转偏置单元或定向马达定子端的重力工具面角，通过转动测量模块也能避免磁干扰等问题进而获取相对较准确的不旋转偏置单元(或定向马达定子端)与驱动轴之间的相对转动数据，使得基于不旋转偏置单元(或定向马达定子端)的重力工具面角以及不旋转偏置单元(或定向马达定子端)与驱动轴之间的相对转动数据的计算结果可以相对更准确，因此，对于静态偏置旋转地质导向系统、定向马达地质导向系统等地质导向系统，本申请可以获取相对更准确的随驱动轴同步旋转的随钻测井仪器的重力工具面角。
显然，本领域的技术人员应该明白，上述的本发明实施例的各模块或各步骤可以用通用的计算装置来实现，它们可以集中在单个的计算装置上，或者分布在多个计算装置所组成的网络上，可选地，它们可以用计算装置可执行的程序代码来实现，从而，可以将它们存储在存储装置中由计算装置来执行，并且在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤，或者将它们分别制作成各个集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。这样，本发明实施例不限制于任何特定的硬件和软件结合。所述计算装置可以是单片机、数字信号处理芯片、FPGA芯片或PLC等具有运算能力的计算装置。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明实施例可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (23)

  1. 一种地质导向系统的姿态监测装置，其特征在于，地质导向系统至少包括一个准静态平台和在所述准静态平台的中心轴线上设置的驱动轴，所述驱动轴与钻头保持同等转速，所述准静态平台与大地保持相对静止，所述准静态平台为静态偏置旋转地质导向系统中的不旋转偏置单元或定向马达地质导向系统中的定向马达定子端，所述装置包括：
    第二姿态测量模块，所述第二姿态测量模块设置于所述准静态平台上，用于测量所述准静态平台的重力工具面角，所述第二姿态测量模块包括至少一个第二加速度测量子模块，所述第二姿态测量模块中的第二加速度测量子模块至少包含两个可测量所述准静态平台径向加速度分量的加速度传感器；
    转动测量模块，设置于所述准静态平台和/或所述驱动轴上，所述转动测量模块用于测量所述准静态平台与所述驱动轴之间的相对转动数据，其中，所述地质导向系统中设置有随所述驱动轴同步旋转的随钻测井仪器；
    计算设备，与所述第二姿态测量模块和所述转动测量模块电连接，所述计算设备用于获取所述第二姿态测量模块测得的所述准静态平台的重力工具面角和所述转动测量模块测得的相对转动数据，根据获取的所述准静态平台的重力工具面角和相对转动数据计算所述随钻测井仪器的重力工具面角。
  2. 如权利要求1所述的地质导向系统的姿态监测装置，其特征在于，
    所述转动测量模块为旋转变压器。
  3. 如权利要求1所述的地质导向系统的姿态监测装置，其特征在于，
    所述转动测量模块包括磁体和磁场传感器，所述磁场传感器用于测量所述磁体的磁场，随着所述驱动轴的旋转，将所述磁场传感器感应到所述磁体产生的磁场达到预设强度的时刻作为对标时刻，其中，所述磁体设置在所述驱动轴上，所述磁场传感器设置在所述准静态平台上，或者，所述磁场传感器设置在所述驱动轴上，所述磁体设置在所述准静态平台上；
    所述计算设备，用于在所述对标时刻，记录所述第二姿态测量模块测得的所述准静态平台的重力工具面角，将所述准静态平台的重力工具面角作为所述驱动轴的重力工具面角，并将所述准静态平台的重力工具面角附加上所述随钻测井仪器与所述驱动轴在所述对标时刻的结构角度差，将该附加结果作为所述随钻测井仪器在所述对标时刻的重力工具面角；在非对标时刻的任意时刻，将所述准静态平台的重力工具面角附加上所述随 钻测井仪器从该任意时刻前的任意一次对标时刻至该任意时刻转过的相对转角得到第一附加结果，将该第一附加结果作为所述驱动轴在该任意时刻的重力工具面角，将所述驱动轴在该任意时刻的重力工具面角附加上所述随钻测井仪器与所述驱动轴的结构角度差得到第二附加结果，将该第二附加结果作为所述随钻测井仪器在该任意时刻的重力工具面角，其中，所述结构角度差为所述随钻测井仪器的工具面角与所述驱动轴的工具面角之间的角度差。
  4. 如权利要求2所述的地质导向系统的姿态监测装置，其特征在于，还包括：
    角速度传感器，设置于所述驱动轴上或设置于所述驱动轴上方的任意井下仪器中，所述角速度传感器用于测量所述随钻测井仪器的旋转角速度。
  5. 如权利要求1所述的地质导向系统的姿态监测装置，其特征在于，
    所述转动测量模块包括至少两个磁体和至少一个磁场传感器，所述磁场传感器用于测量所述磁体的磁场，其中，至少两个所述磁体沿所述准静态平台的径向设置在所述准静态平台上且相邻两个磁体互成预设夹角，至少一个所述磁场传感器设置在所述驱动轴上；或者，至少两个所述磁体沿驱动轴的径向设置在所述驱动轴上且相邻两个磁体互成预设夹角，至少一个所述磁场传感器设置在所述准静态平台上；
    所述计算设备，还用于在任意时刻根据所述磁场传感器测得的所述磁体的磁场强度计算所述准静态平台与所述驱动轴之间的相对角，将所述相对角附加上在该任意时刻所述第二姿态测量模块测得的所述准静态平台的重力工具面角得到第三附加结果，将该第三附加结果作为所述驱动轴在该任意时刻的重力工具面角，将所述驱动轴在该任意时刻的重力工具面角附加上所述随钻测井仪器与所述驱动轴的结构角度差得到第四附加结果，将该第四附加结果作为所述随钻测井仪器的重力工具面角。
  6. 如权利要求1至5中任一项所述的地质导向系统的姿态监测装置，其特征在于，还包括：
    第一姿态测量模块，设置于所述驱动轴上，所述第一姿态测量模块至少包括第一加速度测量子模块，其中，所述第一加速度测量子模块用于测量钻柱在静态下时所述驱动轴的重力工具面角；
    第三加速度测量子模块，设置于所述随钻测井仪器内，所述第三加速度测量子模块用于测量钻柱在静态下时所述随钻测井仪器的重力工具面角；
    所述计算设备，还用于计算钻柱在静态下时所述驱动轴的重力工具面角和钻柱在静态下时所述随钻测井仪器的重力工具面角之间的角度差值，该角度差值为所述驱动轴与所述随钻测井仪器的结构角度差。
  7. 如权利要求1至5中任一项所述的地质导向系统的姿态监测装置，其特征在于，所述第二姿态测量模块中的所述第二加速度测量子模块包括三个加速度传感器时，该三个加速度传感器两两正交安装。
  8. 如权利要求1至5中任一项所述的地质导向系统的姿态监测装置，其特征在于，所述第二姿态测量模块，还包括：
    至少一套角速度测量子模块，用于测量地质导向系统的所述准静态平台以导向单元轴线为中心旋转的角速度，其中，所述角速度用于辅助所述加速度测量子模块测得重力工具面角。
  9. 如权利要求1至5中任一项所述的地质导向系统的姿态监测装置，其特征在于，所述第二姿态测量模块，还包括：
    至少一套磁场强度测量子模块，用于测量所述准静态平台的磁工具面角。
  10. 如权利要求6所述的地质导向系统的姿态监测装置，其特征在于，所述静态偏置旋转地质导向系统设置有井下涡轮发电机，在地质导向系统的姿态监测装置用于所述静态偏置旋转地质导向系统时，所述第一姿态测量模块使用所述静态偏置旋转地质导向系统中的井下涡轮发电机和/或蓄电装置来供电，所述蓄电装置为电池或耐高温电容。
  11. 如权利要求10所述的地质导向系统的姿态监测装置，其特征在于，当所述蓄电装置为耐高温电容或耐高温充电电池时，所述耐高温电容或耐高温充电电池与所述第一姿态测量模块及所述第三加速度测量子模块电连接，所述井下涡轮发电机通过总线为所述耐高温电容或耐高温充电电池充电，并在所述井下涡轮发电机不工作时，所述耐高温电容或耐高温充电电池为所述第一姿态测量模块及所述第三加速度测量子模块供电；
    当所述蓄电装置为不可充电电池时，所述电池通过电流流向控制器与所述总线连接，所述电流流向控制器仅允许电流由所述电池流向所述总线，所述不可充电电池通过所述总线为所述第一姿态测量模块及第三加速度测量子模块供电。
  12. 如权利要求11所述的地质导向系统的姿态监测装置，其特征在于，所述静态偏置旋转地质导向系统的所述总线设置在中心管中，所述中心管设置在柔性节中，所述总线将所述井下涡轮发电机的电能发送给所述第一姿态测量模块及第三加速度测量子模块进行供电。
  13. 如权利要求11所述的地质导向系统的姿态监测装置，其特征在于，所述总线与能量传输模块输出端控制电路连接，所述能量传输模块输出端控制电路将井下涡轮发电机的电能通过能量传输模块输出端输送给所述不旋转偏置单元进行供电；
    所述地质导向系统的姿态监测装置还包括：
    第一开关元件，所述第一开关元件设置于总线至能量传输模块输出端之间的任意位置上，所述第一开关元件用于根据触发信号切断或恢复不旋转偏置单元的供电。
  14. 如权利要求11所述的地质导向系统的姿态监测装置，其特征在于，还包括：
    第二开关元件，设置在不旋转偏置单元的能量传输模块接收端和液压模块电机驱动电路之间，所述第二开关元件用于接收所述总线的指令，并根据所述指令断开或连通所述能量传输模块接收端至所述液压模块电机驱动电路之间的供电。
  15. 如权利要求6所述的地质导向系统的姿态监测装置，其特征在于，静态偏置旋转地质导向系统还包括：
    柔性管体，静态偏置旋转地质导向系统的钻柱内部设置有承压壳体，所述第一姿态测量模块设置于所述承压壳体内，中心管和所述第一姿态测量模块外侧的承压壳体之间设置有所述柔性管体。
  16. 如权利要求1至5中任一项所述的地质导向系统的姿态监测装置，其特征在于，所述第二姿态测量模块包括至少两个第二加速度测量子模块时，其中，一个第二加速度测量子模块设置为备用，其他第二加速度测量子模块设置为主用，所述地质导向系统的姿态监测装置，还包括：
    分析电路，用于根据所述第二姿态测量模块中每个第二加速度测量子模块的测量结果来确定每个第二加速度测量子模块的信任程度。
  17. 如权利要求6所述的地质导向系统的姿态监测装置，其特征在于，所述地质导向系统的姿态监测装置用于静态偏置旋转地质导向系统时，承载所述第一姿态测量模块的承压壳体与驱动轴电路骨架之间通过流道转换器固定连接，承载所述第一姿态测量模块的承压壳体与中心管之间采用插接的连接方式。
  18. 一种地质导向系统的姿态监测方法，其特征在于，地质导向系统至少包括一个准静态平台和在所述准静态平台的中心轴线上设置的驱动轴，所述驱动轴与钻头保持同等转速，所述准静态平台与大地保持相对静止，所述准静态平台为静态偏置旋转地质导向系统中的不旋转偏置单元或定向马达地质导向系统中的定向马达定子端，所述方法包括：
    在所述准静态平台上设置第二姿态测量模块，采用所述第二姿态测量模块测量所述准静态平台的重力工具面角，其中，所述第二姿态测量模块包括至少一个第二加速度测量子模块，所述第二姿态测量模块中的第二加速度测量子模块至少包含两个可测量所述准静态平台径向加速度分量的加速度传感器；
    采用转动测量模块测量所述准静态平台与所述驱动轴之间的相对转动数据，其中，所述地质导向系统中设置有随所述驱动轴同步旋转的随钻测井仪器；
    获取所述第二姿态测量模块测得的所述准静态平台的重力工具面角和所述转动测量模块测得的相对转动数据，根据获取的所述准静态平台的重力工具面角和相对转动数据计算所述随钻测井仪器的重力工具面角。
  19. 如权利要求18所述的地质导向系统的姿态监测方法，其特征在于，所述转动测量模块旋转变压器。
  20. 如权利要求18所述的地质导向系统的姿态监测方法，其特征在于，所述转动测量模块包括磁体和磁场传感器，所述磁场传感器用于测量所述磁体的磁场，随着所述驱动轴的旋转，将所述磁场传感器感应到所述磁体产生的磁场达到预设强度的时刻作为对标时刻，其中，所述磁体设置在所述驱动轴上，所述磁场传感器设置在所述准静态平台上，或者，所述磁场传感器设置在所述驱动轴的中心轴上，所述磁体设置在所述准静态平台上；根据获取的所述准静态平台的重力工具面角和相对转动数据计算随所述驱动轴同步旋转的随钻测井仪器的重力工具面角，包括：
    在所述对标时刻，记录所述第二姿态测量模块测得的所述准静态平台的重力工具面角，将所述准静态平台的重力工具面角作为所述驱动轴的重力工具面角，并将所述准静态平台的重力工具面角附加上所述随钻测井仪器与所述驱动轴在所述对标时刻的结构角度差，将该附加结果作为所述随钻测井仪器在所述对标时刻的重力工具面角；在非对标时刻的任意时刻，将所述准静态平台的重力工具面角附加上所述随钻测井仪器从该任意时刻前的任意一次对标时刻至该任意时刻转过的相对转角得到第一附加结果，将该第一附加结果作为所述驱动轴在该任意时刻的重力工具面角，将所述驱动轴在该任意时刻的重力工具面角附加上所述随钻测井仪器与所述驱动轴的结构角度差得到第二附加结果，将该第二附加结果作为所述随钻测井仪器在该任意时刻的重力工具面角。
  21. 如权利要求20所述的地质导向系统的姿态监测方法，其特征在于，在所述驱动轴上或所述驱动轴上方的任意井下仪器上设置角速度传感器，通过所述角速度传感器测量所述随钻测井仪器的旋转角速度。
  22. 如权利要求18所述的地质导向系统的姿态监测方法，其特征在于，所述转动测量模块包括至少两个磁体和至少一个磁场传感器，所述磁场传感器用于测量所述磁体的磁场，其中，至少两个所述磁体沿所述准静态平台的径向设置在所述准静态平台上且相邻两个磁体互成预设夹角，至少一个所述磁场传感器设置在所述驱动轴上；或者，至少两个所述磁体沿驱动轴的径向设置在所述驱动轴上且相邻两个磁体互成预设夹角，至少一个所述磁场传感器设置在所述准静态平台上；根据获取的所述准静态平台的重力工具面角和相对转动数据计算随所述驱动轴同步旋转的随钻测井仪器的重力工具面角，包括：
    在任意时刻根据所述磁场传感器测得的所述磁体的磁场强度计算所述准静态平台与所述驱动轴之间的相对角，将所述相对角附加上在该任意时刻所述第二姿态测量模块测得的所述准静态平台的重力工具面角得到第三附加结果，将该第三附加结果作为所述驱动轴在该任意时刻的重力工具面角，将所述驱动轴在该任意时刻的重力工具面角附加上所述随钻测井仪器与所述驱动轴的结构角度差得到第四附加结果，将该第四附加结果作为所述随钻测井仪器的重力工具面角。
  23. 如权利要求18至22中任一项所述的地质导向系统的姿态监测方法，其特征在于，还包括：
    在所述驱动轴上设置第一姿态测量模块，所述第一姿态测量模块至少包括第一加速度测量子模块，通过所述第一加速度测量子模块测量钻柱在静态下时所述驱动轴的重力工具面角；
    在所述随钻测井仪器内设置第三加速度测量子模块，通过所述第三加速度测量子模块测量钻柱在静态下时所述随钻测井仪器的重力工具面角；
    计算钻柱在静态下时所述驱动轴的重力工具面角和钻柱在静态下时所述随钻测井仪器的重力工具面角之间的角度差值，该角度差值为所述驱动轴与所述随钻测井仪器的结构角度差。
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