摘要
准确的井下钻探姿态测量精度取决于惯性测量单元(IMU)误差的校正,基于简化误差模型的椭球+平面拟合后,井斜角和工具面角的系统性误差仍需补偿,重力场翻转测试和Monto-Carlo模拟还说明姿态误差存在非线性变化。基于倾斜翻转辨识校正残差和参数寻优,并进一步提出等角距均衡校正技术;进行典型姿态下的数据测量,分别采用椭球+平面拟合、多点翻转优化和等角距均衡技术进行误差补偿。实验结果表明,提出的翻转优化和均衡技术可有效降低非线性姿态误差,标定后近垂直姿态井斜角误差从±0.1°降低至±0.000 8°(1σ),工具面角误差从±1°降低至±0.016 8°(1σ)。
The accuracy of downhole drilling attitude relies on the error calibration of the inertial measurement unit(IMU).However,ellipsoid and plane fitting based on simplified linear models have failed to meet engineering requirements.The periodic residual error of axial tilt angle and tool face angle needs further compensation,and its nonlinearity is confirmed by multi-point tumble tests and Monte Carlo simulations.In this study,we employ post-fit identification through tilt tumble tests and perform parameter optimization,followed by proposing an equidistant balance correction technique.Data is collected under typical cases where ellipsoid fitting,plane fitting,tumble optimization,and equidistant balance correction techniques are applied in experiments.The results indicate that tumble optimization and the equidistant balance correction technique effectively reduce the nonlinearity of attitude error,reducing the nearvertical angle error of axial tilt from an initial±0.1°to calibrated±0.0008°(1σ),and the tool face angle error from intial±1°to±0.0168°(1σ).
作者
张夷非
程为彬
郭涛
胡少兵
郑恭明
Zhang Yifei;Cheng Weibin;Guo Tao;Hu Shaobing;Zheng Gongming(College of Geophysics and Petroleum Resources,Yangtze University,Wuhan 430100,China;School of Electronic Information and Electrical Engineering,Yangtze University,Jingzhou 434023,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2024年第7期335-343,共9页
Chinese Journal of Scientific Instrument
基金
湖北省重点研发计划(2020BAB094)项目资助。
关键词
姿态测量
校正误差
误差补偿
翻转优化
均衡校正
attitude measurement
calibration error
error compensation
tumble optimization
balance correction
