摘要
针对随钻测量中井斜角测量误差引起的姿态解算失真问题,提出基于卡尔曼滤波和互相关提取的联合估计方法。首先采用限幅滤波器对冲击噪声进行滤波,然后用卡尔曼滤波器去除大部分由振动引起的白化处理有色噪声,最后利用互相关检测的方法提取出准确的径切向重力加速度,并对轴向加速度进行平滑滤波,完成井斜角测量误差估计与补偿。经模拟实钻实验,结果表明井斜角测量误差在0.1°以内,该方法与传统方法相比,可以大大提高井斜角测量精度。
Aiming at the problem of attitude resolution distortion caused by angle of inclination measurement errors in measurement while drilling,a joint estimation method based on Kalman filter and cross-correlation extraction was proposed.Firstly,a limiting filter is used to filter the impact noise,and then Kalman filter is used to remove most of the whitening noise caused by vibration.Finally,the cross-correlation detection method is used to extract the accurate radial tangential gravity acceleration,and the axial acceleration is smoothed,so as to complete the estimation and compensation of angle of inclination measurement error.Simulation experiments show that angle of inclination measurement error is less than 0.1°.Compared with traditional methods,this method can greatly improve the precision of deviation angle measurement.
作者
杨金显
赵龙飞
仝小森
王小康
Yang Jinxian;Zhao Longfei;Tong Xiaosen;Wang Xiaokang(School of Electrical Engineering and Automation,Henan Polytechnic University,Jiaozuo 454000,China)
出处
《电子测量与仪器学报》
CSCD
北大核心
2021年第12期101-107,共7页
Journal of Electronic Measurement and Instrumentation
基金
河南省高等学校青年骨干教师培养计划(2018GGJS061)项目资助。
关键词
井斜角
卡尔曼滤波
互相关提取
限幅滤波
加速度
angle of inclination
Kalman filter
cross correlation extraction
amplitude limiting filtering
acceleration
