摘要
建立了陀螺测斜仪/传感器组合导航系统。考虑到井下空间狭小的特殊环境,在平动、转动、平动加转动等3种机动方式下采用卡尔曼滤波方法,通过引进的由传感器敏感到的钻头线速度和井深作为观测量,分别对静止状态、绕钻具轴向转动状态、含造斜过程状态的3种状态3种姿态角的误差角情况进行了仿真验证;把特征值法应用到陀螺测斜仪/传感器组合导航系统中,在滤波前利用井眼轨迹发生器提供的数据通过分段定常系统的可观测性研究方法计算提取可观测性矩阵SOM;SOM维数越大,表明系统的可观测性越好,误差估计精度越高,尤其对方位角的影响较为明显。在随钻对准中,绕钻具轴向转动能起到较好的估计效果。分析结果表明,在实际中最容易操作的绕钻具轴向转动能较好地提高系统的可观测性。给出了仿真曲线,验证了分析结论。
Developed is a gyro inclinometer/sensor integrated navigation system. Based on considering the underground narrow space, three attitude errors are estimated using the Kalman filter method with the observations of linear velocity of the drill bit and the true vertical depth in three mobile modes, that is, straight line motion, rotation, straight line motion plus rotation. The characteristic value method is used in this system. Data are provided by the borehole track gener ater and then computed with the PWCS observability analysis algorithm, from which the observ- ability matrix SOM is obtained before filter. The bigger the SOM, the better the system observability, and the more precise the estimated errors. The results showed that the drilling axial rota tion, which is the easiest operation in practice, can improve the system observability effectively, and the simulation curves verify the conclusions of the analysis.
出处
《测井技术》
CAS
CSCD
北大核心
2009年第3期279-283,共5页
Well Logging Technology
基金
国家自然科学基金(No.50674005)
中国石油中青年创新基金联合资助
