近钻头钻具多源动态姿态组合测量方法

发布时间：2018-03-02 09:01

本文关键词： 导向钻井近钻头振动多传感器融合动态测量无迹卡尔曼滤波　出处：《中国惯性技术学报》2017年02期 　论文类型：期刊论文

【摘要】：在导向钻井系统的姿态测量过程中,由于近钻头强振动的影响,导致姿态参数测不准甚至不可测,为了消除有规律的干扰、振动等对测量准确性的影响,快速解算出准确的钻具姿态,提出一种新的多源动态姿态组合测量方法。采用三轴加速度计、三轴磁通门以及角速率陀螺仪等构成测量系统,建立基于四元数的姿态测量非线性模型,研究钻具运动状态与振动加速度之间的关系,根据模型及噪声特性,采用基于四元数的无迹卡尔曼滤波方法对振动干扰信号进行滤除。试验结果表明,采用提出的方法能够消除近钻头干扰对姿态参数测量的影响,井斜角在5.2°左右,工具面角误差小于10°,有效地提高了导向钻井工具姿态动态测量的准确性。
[Abstract]:In the process of attitude determination of steering drilling system, due to the influence of strong vibration near the bit, attitude parameters are uncertain or undetectable. In order to eliminate the influence of regular interference and vibration on the accuracy of measurement, A new multi-source dynamic attitude measurement method is proposed, which is composed of a three-axis accelerometer, a three-axis fluxgate and an angular rate gyroscope. The nonlinear attitude measurement model based on quaternion is established to study the relationship between the motion state of drill tool and the vibration acceleration. The unscented Kalman filtering method based on quaternion is used to filter the vibration interference signal. The experimental results show that the proposed method can eliminate the influence of near-bit interference on the attitude parameter measurement, and the inclination angle of the well is about 5.2 掳. The error of tool face angle is less than 10 掳, which improves the accuracy of attitude dynamic measurement of steering drilling tool.
【作者单位】：西安石油大学陕西省油气井测控技术重点实验室;西安石油大学电子工程学院;
【基金】：国家自然科学基金(51604226) 陕西省教育厅重点实验室科研计划项目(16JS090) 中国石油科技创新基金(2015D-5006-0307)
【分类号】：TE921

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