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。
In the process of the attitude measurement for steering drilling system, the measurement of the attitude parameters may be uncertainty and unpredictable due to the influence of near-bit＇s strong vibration. In order to eliminate the regular interference＇s and vibration＇s influences on the measurement and quickly obtain the accurate attitude parameters of steering drilling tool, a new method of multi-source dynamic attitude combination measurement is presented. By using three-axis accelerometer, three-axis magnetic flux gate and angular rate gyro measurement system, the nonlinear model based on the quaternion is established. The relationship between the steering drilling tool motion state and the vibration acceleration is studied, and according to the model and the noise characteristics, the vibration disturbance signal is eliminated by the Unscented Kalman filtering based on the Quaternary. Experimental results and comparison analysis demonstrate that the proposed multi-source dynamic attitude combination measurement method can eliminate the near-bit interference＇s influences on the attitude parameters measurement, and effectively improve the accuracy of the attitude dynamic measurement of steering drilling tool. The deviation angle can be controlled to about 5.2°, and the tool face angle error is less than 10°.
作者
高怡
程为彬
汪跃龙
GAO Yi CHENG Wei-bin WANG Yue-long(Shaanxi Key Laboratory of Measurement and Control Technology for Oil and Gas Wells, Xi＇an Shiyou University, Xi＇an 710065, China School of Electronic Engineering, Xi＇an Shiyou University, Xi＇an 710065, China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2017年第2期146-150,共5页
Journal of Chinese Inertial Technology
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)
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
steering drilling
near-bit vibration
multi-sensor fusion
dynamic measurement
unscented Kalman filter
